Enum Event 

#[non_exhaustive]
pub enum Event {
    State {
        motor_id: u32,
        q: f64,
        dq: f64,
        tau: f64,
        t_mos: i16,
        t_rotor: i16,
    },
    ParamReply {
        motor_id: u32,
        rid: u16,
        value: ParamValue,
    },
    Fault {
        motor_id: u32,
        code: u16,
    },
}

A decoded inbound message from a motor.

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.

State

Motor state response (the per-tick mechanical state).

Fields

motor_id: u32

recv CAN ID of the responding motor.

q: f64

Position (radians).

dq: f64

Velocity (rad/s).

tau: f64

Estimated torque (Nm).

t_mos: i16

MOSFET temperature (degrees C).

t_rotor: i16

Rotor temperature (degrees C).

ParamReply

Reply to a parameter read or write (vendor-specific sub-protocol).

Fields

motor_id: u32

recv CAN ID of the responding motor.

rid: u16

Register identifier the reply refers to.

value: ParamValue

Decoded value.

Fault

A motor fault notification.

Fields

motor_id: u32

recv CAN ID of the responding motor.

code: u16

Vendor-defined fault code.

Trait Implementations

impl Clone for Event

fn clone(&self) -> Event

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Event

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

Formats the value using the given formatter.

impl PartialEq for Event

fn eq(&self, other: &Event) -> 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 Event

impl StructuralPartialEq for Event