find_zero

lebai-robotics · Aug 21, 2024 · 0bb7a66 · 0bb7a66
1 parent 6ba43e3
commit 0bb7a66
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Showing 6 changed files with 21 additions and 3 deletions.
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/proto/Cargo.toml b/proto/Cargo.toml
@@ -6,7 +6,7 @@ keywords = ["protobuf"]
 license = "MIT"
 name = "lebai-proto"
 repository = "https://github.com/lebai-robotics/lebai-sdk.rs"
-version = "3.1.5"
+version = "3.1.6"
 
 [dependencies]
 jsonrpsee = {version = "0.21", features = ["client-core", "macros"]}

diff --git a/proto/lebai-proto b/proto/lebai-proto
diff --git a/src/lib.rs b/src/lib.rs
@@ -481,6 +481,12 @@ pub mod lebai_sdk {
             self.0.estop().await
         }
 
+        //MOTOR
+        #[classmethod]
+        pub async fn find_zero(&self) -> Result<()> {
+            self.0.find_zero().await
+        }
+
         // KINEMATIC
         #[classmethod]
         #[cmod::tags(ret)]

diff --git a/src/rpc/mod.rs b/src/rpc/mod.rs
@@ -8,6 +8,7 @@ pub mod motion;
 pub mod plugin;
 pub mod posture;
 pub mod serial;
+pub mod motor;
 pub mod signal;
 pub mod storage;
 pub mod system;

diff --git a/src/rpc/motor.rs b/src/rpc/motor.rs
@@ -0,0 +1,11 @@
+use super::Robot;
+use cmod::Result;
+use proto::google::protobuf::Empty;
+use proto::lebai::motor::*;
+
+impl Robot {
+    pub(crate) async fn find_zero(&self) -> Result<()> {
+        let _ = self.c.find_zero(Some(Empty {})).await.map_err(|e| e.to_string())?;
+        Ok(())
+    }
+}
+1 −1		.github/workflows/docs.yml
+2 −0		motor.proto
+2 −0		system.proto