mc_core

Struct JointSets

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pub struct JointSets { /* private fields */ }
Expand description

collection of joint sets

Implementations§

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impl JointSets

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pub async fn new_from_yaml( path: &Path, calibrations_path: &Path, ) -> Result<Self>

Create new joint sets from YAML file.

§Arguments
  • path - path to the YAML file with joint set definitions (fixed for all mc_one robots)
  • calibrations_path - path to the calibration file (different for each robot)
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pub async fn load_calibrations(&self) -> Result<()>

Load calibrations from file.

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pub async fn save_calibrations(&self) -> Result<()>

Save calibrations to file.

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pub async fn update(&self, torque: bool)

Update all joint sets.

§Arguments
  • torque - global torque state
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pub async fn set_axis_goal(&self, axis_name: &str, goal: f32)

Set goal of an axis.

§Arguments
  • axis_name - the name of the axis
  • goal - the goal value
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pub async fn get_axis_names(&self) -> Vec<String>

Get names of all axes.

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pub async fn get_axis_positions(&self) -> Vec<f64>

Get positions of all axes.

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pub async fn get_axis_goals(&self) -> Vec<f64>

Get goals of all axes.

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pub async fn build_bson_init_message(&self) -> Bson

Build an initial BSON message for new connecting Monitors.

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pub async fn to_bson(&self) -> Bson

Convert the joint sets to a BSON document.

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pub async fn reset_axis(&self, axis_name: &str)

Reset an axis.

§Arguments
  • axis_name - name of the axis
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pub async fn calibrate_axis( &self, axis_name: &str, min: f32, max: f32, new_goal: Option<f32>, )

Calibrate an axis.

§Arguments
  • axis_name - name of the axis
  • min - minimum value of the calibration range
  • max - maximum value of the calibration range
  • new_goal - new goal value, if any
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pub async fn uncalibrate_axis(&self, axis_name: &str)

Forget calibration for an axis.

§Arguments
  • axis_name - the name of the axis
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pub async fn set_pose(&self, pose: &IndexMap<String, f32>)

Set all axis goals.

§Arguments
  • pose - the pose
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pub async fn bus_in_use(&self, path: &Path) -> bool

Check if a bus is already used by a joint set.

§Arguments
  • path - path to the bus
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pub async fn attach_bus(&self, ids: &[usize], bus: ServoBus)

Attach a bus to a joint set.

§Arguments
  • ids - IDs of servos found on the bus
  • bus - the bus to attach

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