Crate ev3dev_rs 

Basic usage

extern crate ev3dev_rs;
extern crate tokio;

use ev3dev_rs::Ev3Result;
use ev3dev_rs::pupdevices::{GyroSensor, Motor, ColorSensor};
use ev3dev_rs::robotics::DriveBase;
use ev3dev_rs::parameters::{MotorPort, MotorPort, Direction}

#[tokio::main]
async fn main() -> Ev3Result<()> {

    use ev3dev_rs::parameters::{Direction, SensorPort};
    let left_motor = Motor::new(MotorPort::OutA, Direction::Clockwise)?;
    let right_motor = Motor::new(MotorPort::OutD, Direction::Clockwise)?;

    let gyro_sensor = GyroSensor::new(SensorPort::In1)?;
    let color_sensor = ColorSensor::new(SensorPort::In4)?;

    println!("Detected color: {}", color_sensor.color()?);

    let drive = DriveBase::new(&left_motor, &right_motor, 62.4, 130.5)?.with_gyro(&gyro_sensor)?;

    drive.use_gyro(true)?;

    drive.straight(500).await?;
    drive.turn(90).await?;
    drive.curve(600, 90).await?;
    drive.veer(600, 500).await?;

    Ok(())
}

DriveBase calibration

extern crate ev3dev_rs;
extern crate tokio;

use ev3dev_rs::pupdevices::{GyroSensor, Motor, ColorSensor};
use ev3dev_rs::robotics::DriveBase;
use ev3dev_rs::parameters::{MotorPort, MotorPort}

#[tokio::main]
async fn main() -> Ev3Result<()> {

    use ev3dev_rs::parameters::{Direction, SensorPort};
    let left_motor = Motor::new(MotorPort::OutA, Direction::Clockwise)?;
    let right_motor = Motor::new(MotorPort::OutD, Direction::Clockwise)?;

    // A gyro sensor is required for calibration.
    let gyro_sensor = GyroSensor::new(SensorPort::In1)?;

    // find_calibrated_axle_track requires a mutable reference
    let mut drive = DriveBase::new(&left, &right, 62.4, 130.5)?.with_gyro(&gyro)?;

    drive.use_gyro(true)?;

    // This will test a bunch of axle tracks, compare them with the gyro, and report the optimal value.
    // Note that it is highly experimental and different surfaces may heavily affect the reported value.
    // If you have issues with drive wheel slippage, please see "set_ramp_up_setpoint".
    // Even if you perfectly dial this in, using the gyro is still highly recommended to get the most accurate readings.
    drive.find_calibrated_axle_track(50).await?;

    Ok(())
}

Async functions

Because all the Motor and DriveBase actions are async, you can run them simultaneously.

extern crate ev3dev_rs;
extern crate tokio;

use ev3dev_rs::pupdevices::{GyroSensor, Motor, ColorSensor};
use ev3dev_rs::robotics::DriveBase;
use ev3dev_rs::parameters::{MotorPort, SensorPort}
use ev3dev_rs::{join, select};

#[tokio::main]
async fn main() -> Ev3Result<()> {

    use ev3dev_rs::parameters::{Direction, SensorPort};
    let left_motor = Motor::new(MotorPort::OutA, Direction::Clockwise)?;
    let right_motor = Motor::new(MotorPort::OutD, Direction::Clockwise)?;

    let attachment_motor = Motor::new(MotorPort::OutB, Direction::Clockwise)?;

    let gyro_sensor = GyroSensor::new(SensorPort::In1)?;

    // find_calibrated_axle_track requires a mutable reference
    let drive = DriveBase::new(&left, &right, 62.4, 130.5)?.with_gyro(&gyro)?;

    drive.use_gyro(true)?;

    // join is like pybricks' non-racing multitask
    // it will wait for all actions to complete before moving on
    // if any task returns an error, join will return that error
    join!(drive.straight(100), attachment_motor.run_until_stalled(-45))?;

    // select is like pybricks' racing multitask
    // once one action completes, the other(s) will be canceled
    select!(drive.turn(90), attachment_motor.run_until_stalled(45))?

    Ok(())
}

Modules

parameters

Parameters used in the ev3dev_rs crate.

pupdevices

Devices that can connect to the robot.

robotics

Higher level abstractions.

tools

Additional tools.

Macros

join

A non-racing multitasker.

select

A racing multitasker

Enums

Ev3Error

The error type for the ev3dev_rs crate

Type Aliases

Ev3Result

The result type for the ev3dev_rs crate.