mc_core

Struct JointSet

Source 
pub struct JointSet {
    pub name: String,
    pub bus: Option<ServoBus>,
    pub joints: Vec<Joint>,
}
Expand description

set of joints accessible from a single bus

Fields§

§name: String

name of the joint set

§bus: Option<ServoBus>

servo bus, if any

§joints: Vec<Joint>

the joints

Implementations§

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impl JointSet

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pub fn new(name: &str, joints: Vec<Joint>) -> Self

create new joint set from joints

§Arguments
  • name - name of the joint set
  • joints - the joints
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pub async fn attach_bus(&mut self, bus: ServoBus) -> Result<()>

Attach a new servo bus to the joint set

§Arguments
  • bus - the new servo bus
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pub fn detach_bus(&mut self)

Detach the servo bus from the joint set

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pub async fn update(&mut self, torque: bool) -> Result<()>

Update all joints of the joint set.

§Arguments
  • torque - global torque state
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pub fn has_id(&self, id: usize) -> bool

Check if the joint set manages a given servo ID.

§Arguments
  • id - the servo ID
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pub fn has_ids(&self, ids: &[usize]) -> bool

Check if the joint set manages all given servo IDs.

§Arguments
  • ids - the servo IDs
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pub fn has_axis(&self, axis_name: &str) -> bool

Check if the joint set manages a given axis.

§Arguments
  • axis_name - the name of the axis
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pub fn set_axis_goal(&mut self, axis_name: &str, goal: f32) -> bool

Set the goal for an axis.

§Arguments
  • axis_name - the name of the axis
  • goal - the goal value
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pub async fn reset_axis(&mut self, axis_name: &str)

Reset an axis. Resetting an axis means recording the current position of the servo(s) involved as zero, prior to calibration.

§Arguments
  • axis_name - the name of the axis
Source

pub fn calibrate_axis( &mut self, axis_name: &str, min: f32, max: f32, new_goal: Option<f32>, )

Calibrate an axis.

§Arguments
  • axis_name - the name of the axis
  • min - the minimum value of the calibration range
  • max - the maximum value of the calibration range
  • new_goal - the new goal value, if any
Source

pub fn uncalibrate_axis(&mut self, axis_name: &str)

Forget calibration for an axis.

§Arguments
  • axis_name - the name of the axis

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