Clockwise and CounterClockwise rotations support, solves gbip#3.

src/builder.rs

@@ -549,12 +549,22 @@ mod test {
 
  let message = MessageBuilder::new()
  .id(0xFD)
- .s_jog(60, JogMode::Continuous { speed: 320 }, JogColor::Blue, 0xFD)
+ .s_jog(60, JogMode::Continuous { speed: 320, rotation: Rotation::CounterClockwise }, JogColor::Blue, 0xFD)
  .build();
 
  assert_eq!(
  message.as_slice(),
  &[0xFF, 0xFF, 0x0C, 0xFD, 0x06, 124, 130, 0x3C, 0x40, 0x01, 0x0A, 0xFD,]
+ );
+
+ let message = MessageBuilder::new()
+ .id(0xFD)
+ .s_jog(60, JogMode::Continuous { speed: 320, rotation: Rotation::Clockwise }, JogColor::Blue, 0xFD)
+ .build();
+
+ assert_eq!(
+ message.as_slice(),
+ &[0xFF, 0xFF, 0x0C, 0xFD, 0x06, 0x3C, 0xC2, 0x3C, 0x40, 0x41, 0x0A, 0xFD,]
  )
  }
 
@@ -571,11 +581,20 @@ mod test {
 
  let message = MessageBuilder::new()
  .id(0xFD)
- .i_jog(60, JogMode::Continuous { speed: 320 }, JogColor::Blue, 0xFD)
+ .i_jog(60, JogMode::Continuous { speed: 320, rotation: Rotation::CounterClockwise }, JogColor::Blue, 0xFD)
  .build();
  assert_eq!(
  message.as_slice(),
  &[0xFF, 0xFF, 0x0C, 0xFD, 0x05, 0x7E, 0x80, 0x40, 0x01, 0x0A, 0xFD, 0x3C,]
+ );
+
+ let message = MessageBuilder::new()
+ .id(0xFD)
+ .i_jog(60, JogMode::Continuous { speed: 320, rotation: Rotation::Clockwise }, JogColor::Blue, 0xFD)
+ .build();
+ assert_eq!(
+ message.as_slice(),
+ &[0xFF, 0xFF, 0x0C, 0xFD, 0x05, 0x3E, 0xC0, 0x40, 0x41, 0x0A, 0xFD, 0x3C,]
  )
  }
 

src/lib.rs

@@ -12,7 +12,7 @@
 //! use drs_0x01::*;
 //!
 //! let servo = Servo::new(0x40);
-//! let message = servo.set_speed(512);
+//! let message = servo.set_speed(512, Rotation::Clockwise);
 //! ```
 //!
 //! To reboot all the servomotors you can use this message :
@@ -53,5 +53,5 @@ pub mod reader;
 mod servo;
 
 pub use addr::{ReadableEEPAddr, ReadableRamAddr, WritableEEPAddr, WritableRamAddr};
-pub use message::{JogColor, JogMode};
+pub use message::{JogColor, JogMode, Rotation};
 pub use servo::Servo;

src/message.rs

@@ -34,6 +34,15 @@ pub enum Rollback {
  SkipNone,
 }
 
+/// This represent the rotation sense of the servomotor while controlled in `Speed`.
+#[derive(Debug)]
+pub enum Rotation {
+ /// CounterClockwise rotation, which is the default rotation sense.
+ CounterClockwise,
+ /// Clockwise rotation, representing the inverted rotation.
+ Clockwise,
+}
+
 /// This represent the servomotor control mode.
 /// The servomotor is either controlled in `Position` or `Speed`.
 #[derive(Debug)]
@@ -52,14 +61,17 @@ pub enum JogMode {
  /// The desired PWM value.
  /// The value must be in the 0..1023 range
  speed: u16,
+ /// Inverts the rotation sense of the servo by modifying the 14th bit.
+ rotation: Rotation,
  },
 }
 
 impl JogMode {
  pub(crate) fn associated_data(&self) -> u16 {
  match *self {
  JogMode::Normal { position } => position,
- JogMode::Continuous { speed } => speed,
+ JogMode::Continuous { speed, rotation: Rotation::Clockwise } => 0x4000 | speed,
+ JogMode::Continuous { speed, rotation: Rotation::CounterClockwise } => speed,
  }
  }
 }

src/servo.rs

@@ -1,6 +1,6 @@
 use builder::{HerkulexMessage, MessageBuilder};
 
-use message::{JogColor, JogMode};
+use message::{JogColor, JogMode, Rotation};
 
 use addr::*;
 
@@ -47,7 +47,7 @@ impl Servo {
 
  /// Request the servo to go to a position.
  /// The value can be between 0 and 1023 but should be between 21 and 1002 if you don't want
- /// the servomotor fo go in error mode.
+ /// the servomotor to go in error mode.
  pub fn set_position(self, position: u16) -> HerkulexMessage {
  MessageBuilder::new_with_id(self.id)
  .s_jog(
@@ -62,12 +62,13 @@ impl Servo {
 
  /// Request the servo to have a certain speed.
  /// The value should be between 0 and 1023.
- pub fn set_speed(self, speed: u16) -> HerkulexMessage {
+ pub fn set_speed(self, speed: u16, rotation: Rotation) -> HerkulexMessage {
  MessageBuilder::new_with_id(self.id)
  .s_jog(
  60,
  JogMode::Continuous {
  speed: min(speed, 1023),
+ rotation
  },
  JogColor::Blue,
  self.id,