Dynamixel Control Table

The goal of this library is to provide the information for each register in the control table of a Dynamixel servo.
This library is intended to be used with an additional library that provides the communication protocol to the Dynamixels.

The data for register is currently limited to address and size (length), however expanding this to include the data type and access level is planned.

Dynamic Control Table

Only available with std feature
The library can be used to return a control table when the model number is not known at compile time, allowing for a more dynamic approach to working with servos.

If the Dynamixel model doesn't implement a register, the control table will return RegisterError.

Supported Servos

This crate focuses on Dynamixels that use Protocol2.0.
Currently supported servos include:

• X series
• Y series
• P series

MX will not be supported.

Usage

Using a known model

use dynamixel_ct::{models::XM430, Register::*};
fn main() {
    println!("{:?}", XM430::get(goal_position););
    println!("{:?}", XM430::goal_position(););
    /// Output: Some(RegisterData { address: 116, length: 4 })
}

Using a dynamic model

use dynamixel_ct::{models, ControlTable, Register::*};
fn main() {
    // ping the motor to get the correct model number
    let model_num: u16 = 1030;
    let model = Model::try_from(model_num).unwrap();
    let control_table = ControlTable::from(model);

    println!("{:?}", control_table.get(goal_position));
    /// Output: Some(RegisterData { address: 116, length: 4 })
}

Generation

These Control Tables are scraped from Robotics Emanual using the generate_control_tables crate. When run, this binary clones the emanual repo, scapes the control table data, and generates the files in dynamixel_ct/src/models/. The scraping process is a little complicated due in inconsistencies in the html tables but it should be maintainable.

Other Dynamixel Rust Libraries

A few different libraries exist for communicating with Dynamixel servos in Rust:

• dynamixel2-rs by RoboHouse Delft
  • This implements protocol2.0.
• rustypot by Pollen Robotics
  • This library has its own method of implementing registers.
• dynamixel.rs by kjetilkjeka (seems to be unmaintained)