Struct Motor 

pub struct Motor { /* private fields */ }

Identity + state-cache for one motor.

State mutators are pub(crate) so user code cannot directly mutate the cache; updates happen exclusively from the bus-router dispatch path inside crate::Robot::tick.

Implementations

impl Motor

pub fn name(&self) -> &str

Human-readable motor name from the robot config.

pub fn motor_type(&self) -> MotorTypeId

Vendor type identifier (e.g. MotorTypeId::Damiao(<DM4340>)).

pub fn send_id(&self) -> u32

CAN ID this motor accepts commands on.

pub fn recv_id(&self) -> u32

CAN ID this motor emits state and replies from.

pub fn position(&self) -> f64

Most recently received position (radians).

pub fn velocity(&self) -> f64

Most recently received velocity (rad/s).

pub fn torque(&self) -> f64

Most recently received torque estimate (Nm).

pub fn temperature_mos(&self) -> i16

MOSFET temperature (degrees C).

pub fn temperature_rotor(&self) -> i16

Rotor temperature (degrees C).

pub fn is_enabled(&self) -> bool

True after a successful enable ACK; false after disable.

pub fn fault(&self) -> Option<FaultCode>

Latched fault code, if any.

Trait Implementations

impl Clone for Motor

fn clone(&self) -> Motor

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Debug for Motor

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

Formats the value using the given formatter.