# 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
- Easily connect streams to the device system through wrappers
- Trapezoidal motion profile following
- No dependencies by default, but support for [libm](https://crates.io/crates/libm) and [micromath](https://crates.io/crates/micromath) available
- No features of libm or micromath enabled
- Compile-time dimensional analysis system
## 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](https://crates.io/crates/rrtk_stream_builder): Code generation from visual nodes for the stream system.
[RRTK Procedural Macros](https://crates.io/crates/rrtk_proc): Procedural `math!` macro making the stream system easier to use.
The changelog has been moved to CHANGELOG.md.
