zproto 0.4.2

A library from communicating with Zaber products in Rust.
Documentation 
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35

//! Example script for using Zaber's Binary protocol via zproto.

use simple_logger::SimpleLogger;
use zproto::binary::{command::*, Port};

fn main() -> Result<(), Box<dyn std::error::Error>> {
	// Enable logging
	SimpleLogger::new().init().unwrap();

	let port_path = "/dev/ttyUSB0";
	let device = 1;

	// Open the port and set up the chain
	let mut port = Port::open_serial(port_path)?;
	port.tx_recv_until_timeout((0, RENUMBER, 0))?;
	port.set_message_ids(true)?;

	// Home device 1
	port.tx_recv((device, HOME))?;
	port.poll_until_idle(device)?;

	// Move towards the end of travel and monitor position as it goes.
	port.tx_recv((device, MOVE_ABSOLUTE, 100_000))?;
	port.poll_until((device, RETURN_CURRENT_POSITION), |reply| {
		let pos = reply.data().unwrap();
		println!("{pos}");
		pos == 100_000
	})?;

	port.tx_recv((device, MOVE_ABSOLUTE, 25_000))?;
	port.poll_until_idle(1)?;
	let reply = port.tx_recv((device, RETURN_CURRENT_POSITION))?;
	println!("{}", reply.data()?);
	Ok(())
}