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//! This crate provides basic functionnality to communicate with Herkulex DRS (both 0101 and //! 0201, other model are not supported even if they might partially work) servomotors. //! It is heavily based on the documentation published by Dongbu Robot which is available //! [`here`](http://www.sgbotic.com/products/datasheets/robotics/herkulexeng.pdf). //! //! # Examples //! //! To set a servo to a position, you can use this message : //! //! ``` //! # extern crate drs_0x01; //! use drs_0x01::prelude::*; //! //! let servo = Servo::new(0x40); //! let message = servo.set_speed(512); //! ``` //! //! To reboot all the servomotors you can use this message : //! //! ``` //! # extern crate drs_0x01; //! use drs_0x01::advanced::MessageBuilder; //! // 0xFE is the broadcast ID //! let message = MessageBuilder::new().id(0xFE).reboot().build(); //! ``` //! //! Here is how to enable torque for the servomotor labelled 35 : //! //! ``` //! # extern crate drs_0x01; //! use drs_0x01::advanced::MessageBuilder; //! use drs_0x01::addr::WritableRamAddr::TorqueControl; //! let message = MessageBuilder::new_with_id(35).write_ram(TorqueControl(1)).build(); //! ``` #![no_std] #![deny(missing_docs)] #[cfg(test)] #[macro_use] extern crate std; extern crate arrayvec; pub mod addr; mod builder; mod message; mod servo; /// Advanced data types for experimented users knowing the datasheet. pub mod advanced { pub use builder::{HerkulexMessage, MessageBuilder, MessageBuilderCmd, MessageBuilderError, MessageBuilderPositionIJOG, MessageBuilderPositionSJOG, MessageBuilderSpecial}; } /// Easy to use functions for a quickstart. pub mod prelude { pub use message::{JogColor, JogMode}; pub use servo::Servo; }