Enum Command 

#[non_exhaustive]
pub enum Command {
    Mit {
        kp: f64,
        kd: f64,
        q: f64,
        dq: f64,
        tau: f64,
    },
    PosVel {
        q: f64,
        dq: f64,
    },
    Vel {
        dq: f64,
    },
    PosForce {
        q: f64,
        dq: f64,
        i_pu: f64,
    },
}

A control command directed at a single motor.

Vendor-specific commands (e.g. Damiao’s 0x7FF parameter sub-protocol) do not appear here; reach them via vendor-extension traits exposed by the vendor’s codec crate.

Variants (Non-exhaustive)

Non-exhaustive enums could have additional variants added in future. Therefore, when matching against variants of non-exhaustive enums, an extra wildcard arm must be added to account for any future variants.

Mit

MIT impedance control: kp, kd gains plus q (position), dq (velocity), tau (feed-forward torque) setpoints.

Fields

kp: f64

Position gain.

kd: f64

Velocity gain.

q: f64

Position setpoint (radians).

dq: f64

Velocity setpoint (rad/s).

tau: f64

Feed-forward torque (Nm).

PosVel

Position + velocity setpoint control.

Fields

q: f64

Position setpoint (radians).

dq: f64

Velocity setpoint (rad/s).

Vel

Pure velocity control.

Fields

dq: f64

Velocity setpoint (rad/s).

PosForce

Position + velocity + current-percent-units control.

Fields

q: f64

Position setpoint (radians).

dq: f64

Velocity setpoint (rad/s).

i_pu: f64

Current setpoint in per-unit (0.0 to 1.0).

Implementations

impl Command

pub fn kind(&self) -> CommandKind

Tagged discriminant.

Trait Implementations

impl Clone for Command

fn clone(&self) -> Command

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for Command

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

Formats the value using the given formatter.

impl From<MitCmd> for Command

fn from(c: MitCmd) -> Self

Converts to this type from the input type.

impl From<PosForceCmd> for Command

fn from(c: PosForceCmd) -> Self

Converts to this type from the input type.

impl From<PosVelCmd> for Command

fn from(c: PosVelCmd) -> Self

Converts to this type from the input type.

impl From<VelCmd> for Command

fn from(c: VelCmd) -> Self

Converts to this type from the input type.

impl PartialEq for Command

fn eq(&self, other: &Command) -> bool

Tests for self and other values to be equal, and is used by ==.

fn ne(&self, other: &Rhs) -> bool

Tests for !=. The default implementation is almost always sufficient, and should not be overridden without very good reason.

impl Copy for Command

impl StructuralPartialEq for Command