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 aim to provide an easy interface to the higher level functions of a servo motor, 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 Bus struct, which represents the serial communication bus. It can be used to send instructions and receive replys on any Read + Write stream. The Bus struct exposes functions for all supported instructions such as Bus::ping, Bus::read, Bus::write and much more. Additionally, you can also transmit raw commands using Bus::write_instruction and Bus::read_status_response, or Bus::transfer_single.

The library currently implements all instructions except for the bulk read and bulk write instructions.

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

Bus	Dynamixel Protocol 2 communication bus.
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.
MotorError	An error reported by the motor.
Response	A status response that is currently in the read buffer of a bus.

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.