Enum CuControllerMode 

pub enum CuControllerMode {
    Position,
    Velocity,
    Effort,
}

Command level a bridge is asked to apply.

Variants

Position

Position setpoints; the bridge closes the servo loop (with velocity feedforward from the command velocities).

Velocity

Velocity setpoints; the bridge servo drives the commanded joint velocities (positions ride along as a drift reference).

Effort

Effort setpoints computed by the controller’s own PD law; the bridge applies them as raw torque/force (plus its own gravity compensation).

Trait Implementations

impl<'__de, __Context> BorrowDecode<'__de, __Context> for CuControllerMode

fn borrow_decode<__D: BorrowDecoder<'__de, Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given BorrowDecode.

impl Clone for CuControllerMode

fn clone(&self) -> CuControllerMode

Returns a duplicate of the value.

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

Performs copy-assignment from source.

impl Copy for CuControllerMode

impl Debug for CuControllerMode

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

Formats the value using the given formatter.

impl<__Context> Decode<__Context> for CuControllerMode

fn decode<__D: Decoder<Context = __Context>>( decoder: &mut __D, ) -> Result<Self, DecodeError>

Attempt to decode this type with the given Decode.

impl Default for CuControllerMode

fn default() -> CuControllerMode

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for CuControllerMode

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Encode for CuControllerMode

fn encode<__E: Encoder>(&self, encoder: &mut __E) -> Result<(), EncodeError>

Encode a given type.

impl Eq for CuControllerMode

impl PartialEq for CuControllerMode

fn eq(&self, other: &CuControllerMode) -> bool

Equality operator ==.

fn ne(&self, other: &Rhs) -> bool

Inequality operator !=.

impl Serialize for CuControllerMode

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl StructuralPartialEq for CuControllerMode

impl TypePath for CuControllerMode

fn type_path() -> &'static str

fn short_type_path() -> &'static str

fn type_ident() -> Option<&'static str>

fn crate_name() -> Option<&'static str>

fn module_path() -> Option<&'static str>