poulpe_ethercat_controller

Struct PoulpeController

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pub struct PoulpeController {
    pub inner: EtherCatController,
    pub poulpe_config: HashMap<u16, PoulpeKind>,
}

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§inner: EtherCatController§poulpe_config: HashMap<u16, PoulpeKind>

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impl PoulpeController

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pub fn connect(filename: &str) -> Result<Self, Box<dyn Error>>

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pub fn check_if_too_old(&self, message_ellased_time: Duration) -> bool

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pub fn get_orbita_type(&self, id: u32) -> u32

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pub fn get_slave_ids(&self) -> Vec<u32>

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pub fn get_slave_name(&self, slave_id: u16) -> Option<String>

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pub fn get_slave_id(&self, name: &str) -> Option<u32>

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pub fn get_slave_names(&self) -> Vec<String>

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pub fn is_poulpe_setup(&self, id: u32) -> bool

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pub fn set_poulpe_setup(&self, id: u32, value: bool)

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pub fn is_slave_ready(&self, id: u16) -> bool

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pub fn get_mode_of_operation(&self, slave_id: u16) -> Result<u8, Box<dyn Error>>

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pub fn get_mode_of_operation_display( &self, slave_id: u16, ) -> Result<u8, Box<dyn Error>>

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pub fn get_error_flags( &self, slave_id: u16, ) -> Result<ErrorFlags, Box<dyn Error>>

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impl PoulpeController

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pub fn setup(&self, id: u32) -> Result<(), Box<dyn Error>>

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pub fn is_torque_on(&self, id: u32) -> Result<Option<bool>, Box<dyn Error>>

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pub fn set_torque( &self, id: u32, requested_torque: bool, ) -> Result<(), Box<dyn Error>>

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pub fn get_status(&self, slave_id: u32) -> Result<CiA402State, Box<dyn Error>>

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pub fn get_type(&self, slave_id: u32) -> u8

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pub fn set_mode_of_operation( &self, slave_id: u16, value: u8, ) -> Result<(), Box<dyn Error>>

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pub fn get_current_position( &self, id: u32, ) -> Result<Option<Vec<f32>>, Box<dyn Error>>

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pub fn get_current_velocity( &self, id: u32, ) -> Result<Option<Vec<f32>>, Box<dyn Error>>

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pub fn get_current_torque( &self, id: u32, ) -> Result<Option<Vec<f32>>, Box<dyn Error>>

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pub fn get_current_axis_sensors( &self, id: u32, ) -> Result<Option<Vec<f32>>, Box<dyn Error>>

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pub fn get_current_target_position( &self, id: u32, ) -> Result<Option<Vec<f32>>, Box<dyn Error>>

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pub fn get_board_temperatures( &self, id: u32, ) -> Result<Option<Vec<f32>>, Box<dyn Error>>

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pub fn get_motor_temperatures( &self, id: u32, ) -> Result<Option<Vec<f32>>, Box<dyn Error>>

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pub fn get_temperatures( &self, id: u32, ) -> Result<Option<(Vec<f32>, Vec<f32>)>, Box<dyn Error>>

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pub fn get_axis_sensor_zeros( &self, id: u32, ) -> Result<Option<Vec<f32>>, Box<dyn Error>>

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pub fn get_current_velocity_limit( &self, id: u32, ) -> Result<Option<Vec<f32>>, Box<dyn Error>>

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pub fn get_current_torque_limit( &self, id: u32, ) -> Result<Option<Vec<f32>>, Box<dyn Error>>

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pub fn set_target_position( &self, id: u32, target_position: Vec<f32>, ) -> Result<(), Box<dyn Error>>

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pub fn set_velocity_limit( &self, id: u32, velocity_limit: Vec<f32>, ) -> Result<(), Box<dyn Error>>

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pub fn set_torque_limit( &self, id: u32, torque_limit: Vec<f32>, ) -> Result<(), Box<dyn Error>>

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pub fn set_target_velocity( &self, id: u32, target_velocity: Vec<f32>, ) -> Result<(), Box<dyn Error>>

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pub fn set_target_torque( &self, id: u32, target_torque: Vec<f32>, ) -> Result<(), Box<dyn Error>>

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pub fn get_error_codes(&self, id: u32) -> Result<Vec<u32>, Box<dyn Error>>

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pub fn emergency_stop(&self, id: u32) -> Result<(), Box<dyn Error>>

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pub fn reactivate_after_emergency_stop( &self, id: u32, ) -> Result<(), Box<dyn Error>>

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pub fn emergency_stop_all(&self, slave_id: u16) -> Result<(), Box<dyn Error>>

Trait Implementations§

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impl Debug for PoulpeController

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

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