Trait DamiaoCodecExt 

pub trait DamiaoCodecExt {
    // Required methods
    fn encode_read_param(&self, motor: MotorRef<'_>, rid: DamiaoRid) -> CanFrame;
    fn encode_write_param(
        &self,
        motor: MotorRef<'_>,
        rid: DamiaoRid,
        val: ParamValue,
    ) -> CanFrame;
    fn encode_save_to_flash(&self, motor: MotorRef<'_>) -> CanFrame;
    fn encode_refresh(&self, motor: MotorRef<'_>) -> CanFrame;
}

Damiao-only extension: read/write per-motor parameters on CAN ID 0x7FF.

DamiaoCodec is the only implementor. The trait stands alone so callers can reach it via &dyn downcast without bringing in MotorCodec.

Required Methods

fn encode_read_param(&self, motor: MotorRef<'_>, rid: DamiaoRid) -> CanFrame

Encode a “read parameter” frame (command byte 0x33).

fn encode_write_param( &self, motor: MotorRef<'_>, rid: DamiaoRid, val: ParamValue, ) -> CanFrame

Encode a “write parameter” frame (command byte 0x55).

fn encode_save_to_flash(&self, motor: MotorRef<'_>) -> CanFrame

Encode a “save settings to flash” frame (command byte 0xAA).

fn encode_refresh(&self, motor: MotorRef<'_>) -> CanFrame

Encode a “request state feedback” frame (Damiao refresh_motor_status, command byte 0xCC on 0x7FF). The motor replies with a feedback frame; this commands no motion. (Byte-for-byte the openarm create_refresh_command.)

Implementors

impl DamiaoCodecExt for DamiaoCodec