[−][src]Crate lss_driver
Lynxmotion Smart Servo Driver
This crate provides an asynchronous serial driver the the Lynxmotion smart servos.
You can read more about the servos on the official robotshop wiki
Driver
The Smart servos are controlled over a serial UART protocol.
You can read about the protocol here It's highly recommended to at least skim the protocol page before trying to use this driver.
This driver currently doesn't implement all features from the protocol.
Some missing features are modifiers and setup commands.
If there are any missing commands or features you'd like added feel free to raise a PR or an issue.
This driver uses async/await
. As a result you will need to use an async runtime.
The driver is based on tokio-serial so tokio would be a good choice but any should work.
Usage
This crate comes with multiple examples.
These are a good start if you want to learn how to use it.
#[tokio::main] async fn main() { // Create a driver on port `COM14` or `/dev/ttyUSB0`... let mut driver = lss_driver::LSSDriver::new("COM14").unwrap(); // In case there is only one servo connected // we can query it's ID using the broadcast ID let id = driver.query_id(lss_driver::BROADCAST_ID).await.unwrap(); // move motor with ID 5 to 90.0 degrees driver.move_to_position(5, 90.0).await.unwrap(); // Set color of servo with ID 5 to Magenta driver.set_color(5, lss_driver::LedColor::Magenta).await.unwrap(); }
Building
This package shouldn't depend on any native libraries.
Rust serialport depends on pkg-config
and libudev-dev
on GNU Linux but they should be disabled for this crate.
If you do run into issues with them failing it may be worth looking into their dependencies and raising an issue here.
Structs
LSSDriver | Driver for the LSS servo |
Enums
LedBlinking | Which status should trigger LED blinking Can be combined in a list |
LedColor | Colors for the LED on the servo |
Model | Version of the motor |
MotorStatus | Status of the motor as responded to status query
If status is safe mode you can use |
SafeModeStatus | Reason why status mode is engaged
if |
Constants
BROADCAST_ID | ID used to talk to all motors on a bus at once |