mc_core::feetech

Enum Register

Source 
#[repr(u8)]
pub enum Register {

Show 45 variants    Firmware = 0,
    Model = 3,
    Id = 5,
    BaudRate = 6,
    ReturnDelay = 7,
    ReturnLevel = 8,
    Min = 9,
    Max = 11,
    MaxTemperature = 13,
    MaxVoltage = 14,
    MinVoltage = 15,
    MaxTorque = 16,
    Phase = 18,
    AlarmShutdown = 19,
    AlarmLed = 20,
    ComplianceP = 21,
    ComplianceD = 22,
    ComplianceI = 23,
    Punch = 24,
    DeadCw = 26,
    DeadCcw = 27,
    MaxCurrent = 28,
    Offset = 31,
    Mode = 33,
    ProtectTorque = 34,
    OvertorqueTime = 35,
    OverloadTorque = 36,
    SpeedComplianceP = 37,
    OvercurrentTime = 38,
    SpeedComplianceI = 39,
    TorqueEnable = 40,
    Acceleration = 41,
    GoalPosition = 42,
    GoalSpeed = 46,
    Lock = 55,
    Position = 56,
    Speed = 58,
    Load = 60,
    Voltage = 62,
    Temperature = 63,
    AsyncWrite = 64,
    Status = 65,
    MobileSign = 66,
    VirPosition = 67,
    Current = 69,

}
Expand description

Feetech protocol registers

Variants§

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Firmware = 0

firmware version (u16)

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Model = 3

model number (u16)

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Id = 5

servo ID (u8)

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BaudRate = 6

baud rate (u8, 0: 1000000, 1: 500000, 2: 250000, 3: 128000, 4: 115200, 5: 76800, 6: 57600, 7: 38400)

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ReturnDelay = 7

return delay time in 2us steps (u8)

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ReturnLevel = 8

return level (u8, 0: no return, 1: return)

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Min = 9

minimum position (u16, 0..4094 in 360/4096 degrees)

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Max = 11

maximum position (u16, 1..4095 in 360/4096 degrees)

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MaxTemperature = 13

maximum temperature (u8, 0..100 in deg.C)

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MaxVoltage = 14

maximum voltage (u8, 0..254 in 0.1V)

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MinVoltage = 15

minimum voltage (u8, 0..254 in 0.1V)

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MaxTorque = 16

maximum torque (u16, 0..1000 in 1/1000 of full torque)

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Phase = 18

phase (u8, unknown)

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AlarmShutdown = 19

alarm shutdown (u8, bit0:..bit5)

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AlarmLed = 20

alarm LED (u8, bit0:..bit5)

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ComplianceP = 21

PID compliance P factor (u8, 0..254)

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ComplianceD = 22

PID compliance D factor (u8, 0..254)

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ComplianceI = 23

PID compliance I factor (u8, 0..254)

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Punch = 24

punch (u16, 0..1000 in 1/1000 of full torque)

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DeadCw = 26

dead zone clockwise (u8, 0..32 in 360/4096 degrees)

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DeadCcw = 27

dead zone counter-clockwise (u8, 0..32 in 360/4096 degrees)

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MaxCurrent = 28

maximum current (u16, 0..511 in 6.5mA)

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Offset = 31

position offset (u16, -2047..2047 in 360/4096 degrees)

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Mode = 33

mode (u8, 0: position, 1: speed, 2: open loop, 3: step)

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ProtectTorque = 34

torque protection limit (u8, 0..100 in 1/100 of full torque)

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OvertorqueTime = 35

overtorque time (u8, 0..100 in 10ms)

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OverloadTorque = 36

overload torque (u8, 0..100 in 1%)

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SpeedComplianceP = 37

speed compliance P factor (u8, 0..254)

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OvercurrentTime = 38

overcurrent time (u8, 0..100 in 10ms)

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SpeedComplianceI = 39

speed compliance I factor (u8, 0..254)

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TorqueEnable = 40

torque enable (u8, 0: disable torque, 1: enable torque, 128: reset current position to 2048)

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Acceleration = 41

acceleration (u8, 0..254 in 36000/4096 degrees/s^2)

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GoalPosition = 42

goal position (u16, -32766..32766 in 360/4096 degrees)

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GoalSpeed = 46

goal load (u16, 0..1000 in 1/1000 of full torque)

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Lock = 55

lock (u8, 0: lock EPROM, 1: unlock EPROM)

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Position = 56

position (u16, 0..4095 in 360/4096 degrees)

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Speed = 58

speed (u16, 0..4095 in 360/4096 degrees/s)

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Load = 60

load (u16, 0..1000 in 1/1000 of full torque)

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Voltage = 62

voltage (u8, 0..254 in 0.1V)

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Temperature = 63

temperature (u8, 0..100 in deg.C)

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AsyncWrite = 64

async write (u8, unknown)

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Status = 65

status (u8, bit0: voltage, bit1: sensor, bit2: temperature, bit3: current, bit4: position, bit5: overload)

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MobileSign = 66

mobile sign (u8, unknown)

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VirPosition = 67

virtual position (u16, unknown)

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Current = 69

current (u16, 0..500 in 6.5mA)

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