Struct Arm 

pub struct Arm(/* private fields */);

Newtype wrapping a MotorGroup that represents an articulated arm.

Implementations

impl Arm

pub fn len(&self) -> usize

Number of motors.

pub fn is_empty(&self) -> bool

True if empty.

pub fn motor(&self, name: &str) -> Option<&Motor>

Get a motor by name.

pub fn motor_mut(&mut self, name: &str) -> Option<&mut Motor>

Get a motor mutably by name.

pub fn motor_at(&self, idx: usize) -> Option<&Motor>

Get a motor by insertion index.

pub fn positions(&self) -> Vec<f64>

Slice of positions in insertion order.

pub fn velocities(&self) -> Vec<f64>

Slice of velocities in insertion order.

pub fn torques(&self) -> Vec<f64>

Slice of torques in insertion order.

pub fn mit_control(&mut self, cmds: &[MitCmd]) -> Result<(), Error>

Batch MIT control. cmds.len() must equal self.len().

pub fn pos_vel_control(&mut self, cmds: &[PosVelCmd]) -> Result<(), Error>

Batch PosVel control.

pub fn vel_control(&mut self, cmds: &[VelCmd]) -> Result<(), Error>

Batch pure-velocity control.

pub fn pos_force_control(&mut self, cmds: &[PosForceCmd]) -> Result<(), Error>

Batch PosForce control.

pub fn enable_all(&mut self) -> Result<(), Error>

Enable every motor in insertion order.

pub fn disable_all(&mut self) -> Result<(), Error>

Disable every motor in reverse insertion order.

pub fn set_zero_all(&mut self) -> Result<(), Error>

Set every motor’s current position as zero.

pub fn refresh(&mut self) -> Result<(), Error>

Send a state-refresh query to every motor (no motion). Pair with tick to receive the replies.

pub fn set_mode(&mut self, mode: CommandKind) -> Result<(), Error>

Set the persistent control mode on every motor (no motion). Call once at startup, before the matching control commands.

pub fn inner(&self) -> &MotorGroup

Borrow the underlying MotorGroup.

pub fn inner_mut(&mut self) -> &mut MotorGroup

Borrow the underlying MotorGroup mutably.