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
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82

//! An implementation of the [Dynamixel Protocol 2.0].
//!
//! [Dynamixel Protocol 2.0]: https://emanual.robotis.com/docs/en/dxl/protocol2/
//!
//! 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 possible 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
//! * [x] Reg Write
//! * [x] Action
//! * [x] Factory Reset
//! * [x] Reboot
//! * [x] Clear
//! * [x] Sync Read
//! * [x] Sync Write
//! * [ ] Bulk Read
//! * [ ] Bulk Write
//! * [x] Custom raw instructions
//!
//! # 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`](https://docs.rs/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.

#[macro_use]
mod log;

pub mod checksum;
pub mod instructions;

mod bytestuff;
mod endian;
mod error;
mod transfer;

pub use error::InvalidChecksum;
pub use error::InvalidHeaderPrefix;
pub use error::InvalidInstruction;
pub use error::InvalidMessage;
pub use error::InvalidPacketId;
pub use error::InvalidParameterCount;
pub use error::MotorError;
pub use error::ReadError;
pub use error::TransferError;
pub use error::WriteError;

pub use transfer::read_response;
pub use transfer::scan;
pub use transfer::scan_to_vec;
pub use transfer::transfer_single;
pub use transfer::write_instruction;