motor-driver-hal-0.1.0 has been yanked.

Motor Driver HAL

A hardware abstraction layer (HAL) for motor drivers built on top of embedded-hal traits. This crate provides a generic, platform-independent interface for controlling various types of motor drivers commonly used in embedded systems and robotics applications.

Supported Motor Driver Types

H-Bridge Drivers: Bidirectional DC motor control with optional brake functionality
- ✅ BTS7960: High-current H-bridge motor driver module
Single Direction Drivers: Simple unidirectional motor control
Dual H-Bridge: Independent control of two motors

Installation

Add this to your Cargo.toml:

[dependencies]
motor-driver-hal = "0.1.0"

For no_std environments, disable the default features:

[dependencies]
motor-driver-hal = { version = "0.1.0", default-features = false }

Quick Start

use motor_driver_hal::{HBridgeMotorDriver, MotorDriver};
use embedded_hal::digital::OutputPin;
use embedded_hal::pwm::SetDutyCycle;

// Your platform-specific GPIO and PWM implementations
// (see examples for Raspberry Pi implementation)

// Create motor driver instance
let enable_pin = your_gpio_pin;
let pwm_channel = your_pwm_channel;

let mut motor = HBridgeMotorDriver::new_single_enable_single_pwm(
    enable_pin,
    pwm_channel,
    1000  // max duty cycle
);

// Initialize and use the motor
motor.initialize()?;
motor.enable()?;
motor.set_speed(500)?;  // 50% forward speed
motor.set_speed(-300)?; // 30% reverse speed
motor.brake()?;
motor.stop()?;

Examples

The example/ directory contains practical implementations for different scenarios:

Available Examples

basic_motor - Simple motor control demonstration
speed_control - Variable speed control with PWM
direction_control - Forward/reverse direction control
brake_test - Braking functionality demonstration
encoder_monitor - Motor with encoder feedback

Running Examples

# Navigate to examples directory
cd example/

# Run a specific example (requires Raspberry Pi hardware)
cargo run --bin basic_motor
cargo run --bin speed_control
cargo run --bin direction_control

API Overview

Core Trait: `MotorDriver`

All motor drivers implement the MotorDriver trait:

pub trait MotorDriver {
    type Error;
    
    // Initialization and control
    fn initialize(&mut self) -> Result<(), Self::Error>;
    fn enable(&mut self) -> Result<(), Self::Error>;
    fn disable(&mut self) -> Result<(), Self::Error>;
    
    // Speed and direction control
    fn set_speed(&mut self, speed: i16) -> Result<(), Self::Error>;
    fn set_direction(&mut self, forward: bool) -> Result<(), Self::Error>;
    fn stop(&mut self) -> Result<(), Self::Error>;
    fn brake(&mut self) -> Result<(), Self::Error>;
    
    // Status reading
    fn get_speed(&self) -> Result<i16, Self::Error>;
    fn get_direction(&self) -> Result<bool, Self::Error>;
    fn get_current(&self) -> Result<f32, Self::Error>;
    fn get_voltage(&self) -> Result<f32, Self::Error>;
    fn get_temperature(&self) -> Result<f32, Self::Error>;
    fn get_fault_status(&self) -> Result<u8, Self::Error>;
}

Speed Values

Speed is controlled using signed 16-bit integers:

Positive values: Forward direction (0 to max_duty)
Negative values: Reverse direction (-max_duty to 0)
Zero: Motor stopped

Motor States

Uninitialized: Fresh driver instance, not ready for use
Initialized: Driver configured and ready, but motor disabled
Enabled: Motor powered and ready to move
Disabled: Motor power cut, safe state

Hardware Integration

To use this crate with your specific hardware platform:

Implement the embedded-hal traits for your GPIO and PWM peripherals
Create wrapper types that adapt your platform's types to the HAL traits
Use the motor driver with your wrapped types

Supported Platforms

Raspberry Pi (via rppal crate - see examples)
ESP32 (via esp-hal)
STM32 (via stm32-hal family)
Any platform with embedded-hal support

motor-driver-hal 0.1.0