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Makes NaoControl message stiffness floppy by default #63

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merged 1 commit into from
Mar 21, 2024
Merged

Makes NaoControl message stiffness floppy by default #63

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24 changes: 21 additions & 3 deletions nidhogg/src/lib.rs
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Original file line number Diff line number Diff line change
Expand Up @@ -42,8 +42,8 @@ pub use error::{Error, Result};
use nidhogg_derive::Builder;
use serde::Serialize;
use types::{
color::RgbF32, Battery, ForceSensitiveResistors, JointArray, LeftEar, LeftEye, RightEar,
RightEye, Skull, SonarEnabled, SonarValues, Touch, Vector2, Vector3,
color::RgbF32, Battery, FillExt, ForceSensitiveResistors, JointArray, LeftEar, LeftEye,
RightEar, RightEye, Skull, SonarEnabled, SonarValues, Touch, Vector2, Vector3,
};

/// Generic backend trait used for implementing a NAO interface.
Expand Down Expand Up @@ -153,7 +153,7 @@ pub struct NaoState {
}

/// High level representation of the `LoLA` update message.
#[derive(Builder, Clone, Debug, Default)]
#[derive(Builder, Clone, Debug)]
pub struct NaoControlMessage {
pub position: JointArray<f32>,
pub stiffness: JointArray<f32>,
Expand All @@ -173,6 +173,24 @@ pub struct NaoControlMessage {
pub skull: Skull,
}

impl Default for NaoControlMessage {
fn default() -> Self {
Self {
position: JointArray::fill(-1.0),
stiffness: JointArray::default(),
sonar: SonarEnabled::default(),
left_ear: LeftEar::default(),
right_ear: RightEar::default(),
chest: RgbF32::default(),
left_eye: LeftEye::default(),
right_eye: RightEye::default(),
left_foot: RgbF32::default(),
right_foot: RgbF32::default(),
skull: Skull::default(),
}
}
}

/// Struct containing the hardware identifiers for the NAO V6 robot.
#[derive(Debug)]
pub struct HardwareInfo {
Expand Down
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