Rust Robotics ToolKit

Systems and tools for robotics programming in Rust.

RRTK works almost entirely without std and alloc. It is not specific to any device or API.

License: BSD 3-Clause

RRTK is free and open source software licensed under the permissive BSD 3-Clause "New" or "Revised" License. See the LICENSE file in the repository for more information.

Features

• Architecture based on Getter, Settable, and Updatable traits
• Node-like stream system for data processing
  • Basic arithmetic, exponentiation, and integral and derivative
  • Logic and control flow management
  • PID control
  • Moving average
  • Exponentially weighted moving average (EWMA)
  • New streams can be added easily with the Getter trait.
• Graph-based device control system
  • Devices hold terminals which can be connected together
  • Differential, gear train, and clutch provided
  • Coming soon: easily connect streams to the device system through wrappers
• Trapezoidal motion profile following

Related Crates

Currently, neither of these works very well with the 0.7.* release series. They will be updated eventually, but improving RRTK itself is being prioritized more right now.

RRTK Stream Builder: Code generation from visual nodes for the stream system.

RRTK Procedural Macros: Procedural math! macro making the stream system easier to use.

The changelog has been moved to CHANGELOG.md.