Crate ev3_drivebase 

ev3-drivebase

A high-level DriveBase abstraction for LEGO Mindstorms EV3 robots running ev3dev.

This crate provides an easy-to-use interface for controlling a two-wheeled robot, similar to the DriveBase classes found in the Python and MicroPython ev3dev libraries.

Features

• Simple movement control: Drive forward/backward and turn with precise distance and angle control
• Configurable brake modes: Choose between Coast, Brake, and Hold modes
• Acceleration control: Set custom acceleration and deceleration rates
• Color sensor support: Optional integration with color sensors for line following
• Type-safe API: Leverage Rust’s type system for safer robot control

Quick Start

use ev3_drivebase::{DriveBase, Motor, Direction, BrakeMode};
use ev3_drivebase::ev3dev_lang_rust::{Ev3Error, motors::MotorPort};

fn main() -> Result<(), Ev3Error> {
    // Define motor configuration
    let left = Motor::new(MotorPort::OutA, Direction::Clockwise);
    let right = Motor::new(MotorPort::OutB, Direction::CounterClockwise);

    // Create drivebase with wheel diameter (43.2mm) and axle track (185mm)
    let mut drivebase = DriveBase::new(left, right, 43.2, 185.0)?;

    // Configure behavior
    drivebase
        .set_brake_mode(BrakeMode::Hold)?
        .set_acceleration(4000)?
        .set_deceleration(4000)?;

    // Drive 500mm forward at 100 deg/s
    drivebase.drive(100, 500, true)?;

    // Turn 90 degrees in place
    drivebase.turn(200, 90, None)?;

    Ok(())
}

Motor Direction

When creating a DriveBase, you need to specify the direction each motor should turn to make the robot move forward. This depends on how your motors are mounted:

• If the motor shaft points toward the front of the robot, use Direction::Clockwise
• If the motor shaft points toward the back of the robot, use Direction::CounterClockwise

Units

• Distances: millimeters (mm)
• Speeds: degrees per second (deg/s)
• Angles: degrees
• Acceleration/Deceleration: degrees per second squared (deg/s²)

Color Sensors

You can optionally add color sensors to the drivebase for line following applications:

use ev3_drivebase::ev3dev_lang_rust::sensors::{ColorSensor, SensorPort};

let left_sensor = ColorSensor::get(SensorPort::In1)?;
let right_sensor = ColorSensor::get(SensorPort::In2)?;

drivebase.add_colorsensor(left_sensor, right_sensor);

Re-exports

pub use ev3dev_lang_rust;

Structs

DriveBase

A two-wheeled robot drivebase controller.

Motor

Required metadata for each motor of the drivebase.

Enums

BrakeMode

The brake mode determines how motors behave when stopped.

Direction

The direction a motor needs to turn to make the robot move forward.

MotorPort

EV3 ports outA to outD