Pololu Tic Rust Driver

A Rust embedded-hal library for controlling the Pololu Tic series of stepper motor drivers. It supports the same devices the official Arduino driver does, namely the T500, T834, T825, T249, and 36v4.

Currently, this driver supports the I²C, Serial, and USB control modes which the Tic devices support. This driver only supports embedded-hal >= 1.0.

[!IMPORTANT] The Tic devices utilize I²C clock-stretching, which can cause timeouts and errors on some chips. Ensure you increase the I²C timeout delay on your chip if you are getting timeout errors while using this library.

[!WARNING] The USB support is untested, experimental and the interface may change at any time.

Feature Flags

This library has a few feature flags to enable or disable support for different interfaces.

• i2c (default): Enables support for the I²C interface.
• serial: Enables support for the UART Serial interface.
• usb: Enables the USB interface support using nusb, and implies the std feature.
• std: Enables std support, which enables traits and conversions in a few libraries.

License

This library is licensed under the MIT and Apache 2.0 permissive open-source licenses. Please review the terms of these licenses to decide how to incorporate this library into your projects.

Example

A basic example of using this library to set up and control a Tic36v4 is as follows. Ensure you replace <i2c_bus> with your platform's embedded_hal I²C interface.

use pololu_tic::{TicBase, TicI2C, TicProduct};

let mut tic = pololu_tic::TicI2C::new_with_address(
    <i2c_bus>,
    TicProduct::Tic36v4,
    14
);

tic.set_target_velocity(2000000);

loop {
    tic.reset_command_timeout();
}