Struct EthercatPoulpeController

pub struct EthercatPoulpeController { /* private fields */ }

EthercatPoulpeController - wrapper around the three disks motors

Implementations

impl EthercatPoulpeController

pub fn new( url: &str, id: Option<u8>, name: Option<String>, zero: ZeroType, reductions: f64, inverted_axes: [Option<bool>; 3], ) -> Result<Self>

Creates a new EthercatPoulpeController

pub fn get_rpy_inverted_axes(&self) -> [Option<bool>; 3]

pub fn id(&self) -> u8

Trait Implementations

impl Debug for EthercatPoulpeController

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl MotorsController<3> for EthercatPoulpeController

fn io(&mut self) -> &mut dyn RawMotorsIO<3>

fn offsets(&self) -> [Option<f64>; 3]

Get the offsets of the motors (in radians)

fn reduction(&self) -> [Option<f64>; 3]

Get the reduction of the motors

fn limits(&self) -> [Option<Limit>; 3]

Get the limits of the motors

fn output_inverted_axes(&self) -> [Option<bool>; 3]

Get the axes inversion of the output

fn name(&self) -> String

Get the name of the controller

fn inverted_axes(&self) -> [Option<bool>; N]

Get the axes invertion

fn is_torque_on(&mut self) -> Result<[bool; N], Box<dyn Error>>

Check if the torque is ON or OFF

fn set_torque(&mut self, on: [bool; N]) -> Result<(), Box<dyn Error>>

Enable the torque

fn get_current_position(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the current position of the motors (in radians)

fn get_current_velocity(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the current velocity of the motors (in radians per second)

fn get_current_torque(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the current torque of the motors (in Nm)

fn get_target_position(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the current target position of the motors (in radians)

fn set_target_position( &mut self, position: [f64; N], ) -> Result<(), Box<dyn Error>>

Set the current target position of the motors (in radians)

fn set_target_torque(&mut self, torque: [f64; N]) -> Result<(), Box<dyn Error>>

Set the current target torque of the motors (in Nm) TODO: inverted_axes?

fn set_target_velocity( &mut self, velocity: [f64; N], ) -> Result<(), Box<dyn Error>>

Set the current target velocity of the motors (in rad/s) TODO: inverted_axes?

fn set_control_mode(&mut self, mode: [u8; N]) -> Result<(), Box<dyn Error>>

Set control mode

fn get_target_torque(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the current target torque of the motors (in Nm) TODO: inverted_axes?

fn get_target_velocity(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the current target velocity of the motors (in rad/s) TODO: inverted_axes?

fn get_control_mode(&mut self) -> Result<[u8; N], Box<dyn Error>>

Get the current control mode

fn set_target_position_fb( &mut self, position: [f64; N], ) -> Result<[f64; N], Box<dyn Error>>

Set the current target position and returns the motor feeback (position, velocity, torque)

fn get_velocity_limit(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the velocity limit of the motors (in radians per second)

fn set_velocity_limit( &mut self, velocity: [f64; N], ) -> Result<(), Box<dyn Error>>

Set the velocity limit of the motors (in radians per second)

fn get_torque_limit(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the torque limit of the motors (in Nm)

fn set_torque_limit(&mut self, torque: [f64; N]) -> Result<(), Box<dyn Error>>

Set the torque limit of the motors (in Nm)

fn get_pid_gains(&mut self) -> Result<[PID; N], Box<dyn Error>>

Get the current PID gains of the motors

fn set_pid_gains(&mut self, pid: [PID; N]) -> Result<(), Box<dyn Error>>

Set the current PID gains of the motors

fn get_axis_sensors(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the current axis sensors of the articulation TODO: inverted_axes?

fn get_error_codes(&mut self) -> Result<[i32; N], Box<dyn Error>>

Get the motors error codes

fn get_axis_sensor_zeros(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the current zeros of the axis sensors of the articulation TODO: inverted_axes?

fn get_board_state(&mut self) -> Result<u8, Box<dyn Error>>

Get the current state of the articulation control board

fn set_board_state(&mut self, state: u8) -> Result<(), Box<dyn Error>>

Set the current state of the articulation control board (clear error)

fn get_motor_temperatures(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the motor temperatures (in Celsius)

fn get_board_temperatures(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the board H-bridges temperatures (in Celsius)

fn emergency_stop(&mut self)

Trigger an emergency stop

impl RawMotorsIO<3> for EthercatPoulpeController

fn name(&self) -> String

fn is_torque_on(&mut self) -> Result<[bool; 3]>

Check if the motors are ON or OFF

fn set_torque(&mut self, on: [bool; 3]) -> Result<()>

Enable/Disable the torque

fn get_current_position(&mut self) -> Result<[f64; 3]>

Get the current position of the motors (in radians)

fn get_current_velocity(&mut self) -> Result<[f64; 3]>

Get the current velocity of the motors (in radians per second)

fn get_current_torque(&mut self) -> Result<[f64; 3]>

Get the current torque of the motors (in Nm)

fn get_target_position(&mut self) -> Result<[f64; 3]>

Get the current target position of the motors (in radians)

fn set_target_position(&mut self, position: [f64; 3]) -> Result<()>

Set the current target position of the motors (in radians)

fn set_target_velocity(&mut self, vel: [f64; 3]) -> Result<()>

Set the current target velocity of the motors (in rad/s)

fn set_target_torque(&mut self, vel: [f64; 3]) -> Result<()>

Set the current target torque of the motors (in Nm)

fn set_target_position_fb(&mut self, position: [f64; 3]) -> Result<[f64; 3]>

Set the current target position and returns the motor feeback (position, velocity, torque)

fn get_velocity_limit(&mut self) -> Result<[f64; 3]>

Get the velocity limit of the motors (in radians per second)

fn set_velocity_limit(&mut self, velocity: [f64; 3]) -> Result<()>

Set the velocity limit of the motors (in radians per second)

fn get_torque_limit(&mut self) -> Result<[f64; 3]>

Get the torque limit of the motors (in Nm)

fn set_torque_limit(&mut self, torque: [f64; 3]) -> Result<()>

Set the torque limit of the motors (in Nm)

fn get_pid_gains(&mut self) -> Result<[PID; 3]>

Get the current PID gains of the motors

fn set_pid_gains(&mut self, _pid: [PID; 3]) -> Result<()>

Set the current PID gains of the motors

fn get_axis_sensors(&mut self) -> Result<[f64; 3]>

Get the current axis sensors

fn get_axis_sensor_zeros(&mut self) -> Result<[f64; 3]>

Get the zeros of the axis sensors

fn get_board_state(&mut self) -> Result<u8>

Get the Board State byte

fn get_error_codes(&mut self) -> Result<[i32; 3]>

Get the motors error codes

fn get_motor_temperatures(&mut self) -> Result<[f64; 3]>

Get the motor temperatures (in Celsius)

fn get_board_temperatures(&mut self) -> Result<[f64; 3]>

Get the board H-bridges temperatures (in Celsius)

fn set_board_state(&mut self, _state: u8) -> Result<()>

Set the Board State byte

fn get_control_mode(&mut self) -> Result<[u8; 3]>

Get the control mode

fn set_control_mode(&mut self, _mode: [u8; 3]) -> Result<()>

Set the control mode

fn emergency_stop(&mut self)

fn get_target_torque(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the current target torque of the motors (in Nm)

fn get_target_velocity(&mut self) -> Result<[f64; N], Box<dyn Error>>

Get the current target velocity of the motors (in rad/s)