[−][src]Crate dynamixel2
An implementation of the Dynamixel Protocol 2.0.
This library aims to provide a easy to use but low level implementation of the Dynamixel Protocol 2.0. That means it allows you to execute arbitrary commands with arbitrary parameters.
The library does not currently aim to provide an easy interface to the higher level functions of a servo, such as moving it to a specific angle or at a specific speed. Instead, you will have to write the appropriate values to the correct registers yourself.
The main interface is the transfer_single
function,
which can be used to send an instruction to a servo and read a single reply.
The function can work with any Read
+ Write
stream.
It is also also to use write_instruction
followed by multiple read_response
calls
to receive replies from multiple motors.
See the instructions
module for available instructions.
Instruction implementation status
The following instructions are currently implemented (PRs welcome!):
- [x] Ping
- [x] Read
- [x] Write
- [ ] Reg Write
- [ ] Action
- [ ] Factory Reset
- [x] Reboot
- [ ] Clear
- [ ] Sync Read
- [ ] Sync Write
- [ ] Bulk Read
- [ ] Bulk Write
Functionaility implementation status
The following planned functionality is currently implemented (PRs welcome!):
- [x] Write instruction messages.
- [x] Read response (status) messages.
- [x] Bit-stuffing and de-stuffing of messages.
- [x] Checksum calculation and verification.
- [x] Optional logging of all instructions and responses.
- [ ] Optional integration with
serial
. - [x] Utility function to perform unicast instructions.
- [ ] Utility function to perform broadcast instructions.
- [x] Utility function to scan a bus for motors.
Optional features
You can enable the log
feature to have the library use log::trace!()
to log all sent instructions and received replies.
Modules
checksum | |
instructions |
Structs
InvalidChecksum | The received message has an invalid checksum value. |
InvalidHeaderPrefix | The received message has an invalid header prefix. |
InvalidInstruction | The received message has an invalid or unexpected instruction value. |
InvalidPacketId | The received message has an invalid or unexpected packet ID. |
InvalidParameterCount | The received message has an invalid or unexpected parameter count. |
Enums
InvalidMessage | The received message is not valid. |
ReadError | An error that can occur during a read transfer. |
TransferError | An error that can occur during a read/write transfer. |
WriteError | An error that can occur during a write transfer. |
Functions
read_response | Read a response from a stream. |
scan | Scan a bus for motors with a broadcast ping, calling an |
scan_to_vec | Scan a bus for motors with a broadcast ping, returning the responses in a |
transfer_single | Write an instruction to a stream, and read a single response. |
write_instruction | Write an instruction to a stream. |