Crate tmcl [−] [src]

TMCL - Trinamic Motion Control Language

Examples

Socketcan

To use this example the socketcan feature must be enabled. And a socketcan interface named vcan0 must exist.

extern crate tmcl;
extern crate socketcan;

use std::cell::RefCell;

use tmcl::modules::tmcm::instructions::*;
use tmcl::modules::tmcm::axis_parameters::*;
use tmcl::modules::tmcm::TmcmModule as Module;
fn main() {
    let interface = RefCell::new(socketcan::CANSocket::open("vcan0").unwrap());

    let module1 = Module::new(&interface, 1);
    let module2 = Module::new(&interface, 2);

    module1.write_command(ROR::new(0, 250)).unwrap();
    module2.write_command(ROL::new(0, 250)).unwrap();
}

Socketcan and threading

To use this example the socketcan feature must be enabled. And a socketcan interface named vcan0 must exist.

extern crate tmcl;
extern crate socketcan;

use std::sync::Mutex;
use std::sync::Arc;

use tmcl::modules::tmcm::instructions::*;
use tmcl::modules::tmcm::axis_parameters::*;
use tmcl::modules::tmcm::TmcmModule as Module;

fn main() {

    let interface = Arc::new(Mutex::new(socketcan::CANSocket::open("vcan0").unwrap()));

    let module1 = Module::new(interface.clone(), 1);
    let module2 = Module::new(interface, 2);

    std::thread::spawn(move || {
        module1.write_command(ROR::new(0, 250)).unwrap();
    });

    std::thread::spawn(move || {
        module2.write_command(ROL::new(0, 250)).unwrap();
    });
}

No-std

When using with no-std you can implement Interface on the interface you intent to use.

#![no_std]

extern crate tmcl;

use core::cell::RefCell;

use tmcl::Interface;
use tmcl::Reply;
use tmcl::Command;
use tmcl::Instruction;
use tmcl::modules::tmcm::instructions::*;
use tmcl::modules::tmcm::axis_parameters::*;
use tmcl::modules::tmcm::TmcmModule as Module;



impl Interface for MyInterface {
   type Error = MyInterfaceError;

   fn transmit_command<T: Instruction>(&mut self, command: &Command<T>) -> Result<(), Self::Error> {
       // Implement transmit_command for your interface
   }

   fn receive_reply(&mut self) -> Result<Reply, Self::Error> {
       // Implement receive_reply for your interface
   }
}

fn main() {

    let interface = RefCell::new(MyInterface::new());

    let module1 = Module::new(&interface, 1);
    let module2 = Module::new(&interface, 2);

    module1.write_command(ROR::new(0, 250)).unwrap();
    module2.write_command(ROL::new(0, 250)).unwrap();
}

Modules

modules

Implementation of functionality special for different hardware modules

Structs

Command	A `Comamnd` is an `Instruction` with a module address.
NonValidErrorCode	The result of attempting to converted a number that is not a valid status code into `Status`.
Reply	A TMCM module will respond with a `Reply` after receiving a `Command`.

Enums

ErrStatus	A `Status` that indicate an `Error` has occured.
Error	All possible errors when communicating with
OkStatus	A `Status` that indicates that everything went well.
Status	Every reply from a `Module` contains a `Status`

Traits

AxisParameter	Axis parameter - useable with SAP, GAP, AAP, STAP and/or RSAP instructions.
Instruction	A `TMCL` `Instruction`
Interface	A interface for a TMCM module
ReadableAxisParameter	An axis parameter useable with the GAP instruction.
WriteableAxisParameter	An axis parameter useable with the SAP instruction.