Struct MotorGroup 

pub struct MotorGroup { /* private fields */ }

Collection of motors that share a CAN bus and a vendor codec.

Implementations

impl MotorGroup

pub fn name(&self) -> &str

Group name.

pub fn bus_name(&self) -> &str

Name of the bus this group is attached to.

pub fn len(&self) -> usize

Number of motors in the group.

pub fn is_empty(&self) -> bool

True if there are no motors (shouldn’t happen via the builder).

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 motors(&self) -> &[Motor]

All motors in insertion order.

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

Send the codec’s enable frame to every motor in insertion order.

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

Send the codec’s disable frame to every motor in insertion order. (Robot::disable reverses group order; individual groups disable motors in declaration order.)

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

Send the codec’s set-zero frame to every motor in insertion order.

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

Send the codec’s state-refresh query to every motor that supports one, in insertion order. Motors whose codec returns None (no refresh) are skipped. Send-only: this never drains inbound frames — call tick to receive the replies. Commands no motion.

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

Set the persistent control mode (MIT / PosVel / Vel / PosForce) on every motor whose codec supports it, in insertion order. Commands no motion; send-only. Call once at startup, before the matching control commands.