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Lynxmotion Smart Servo Driver

Crates.io Docs Rust Rust-windows codecov License

This crate provides an asynchronous serial driver the the Lynxmotion smart servos.

You can read more about the servos on the official robotshop wiki


The Smart servos are controlled over a serial UART protocol.

You can read about the protocol here It’s highly recommended to at least skim the protocol page before trying to use this driver.

This driver currently doesn’t implement all features from the protocol.
Some missing features are modifiers and setup commands.
If there are any missing commands or features you’d like added feel free to raise a PR or an issue.

This driver uses async/await. As a result you will need to use an async runtime. The driver is based on tokio-serial so tokio would be a good choice but any should work.


This crate comes with multiple examples.
These are a good start if you want to learn how to use it.

async fn main() {
    // Create a driver on port `COM14` or `/dev/ttyUSB0`...
    let mut driver = lss_driver::LSSDriver::new("COM14").unwrap();
    // In case there is only one servo connected
    // we can query it's ID using the broadcast ID
    let id = driver.query_id(lss_driver::BROADCAST_ID).await.unwrap();
    // move motor with ID 5 to 90.0 degrees
    driver.move_to_position(5, 90.0).await.unwrap();
    // Set color of servo with ID 5 to Magenta
    driver.set_color(5, lss_driver::LedColor::Magenta).await.unwrap();


This package shouldn’t depend on any native libraries.
Rust serialport depends on pkg-config and libudev-dev on GNU Linux but they should be disabled for this crate.
If you do run into issues with them failing it may be worth looking into their dependencies and raising an issue here.


Version 0.5.0 - (2020-01-13)

  • Windows support

Version 0.6.1 - (2021-09-28)

  • Tokio 1.0 support (Now also on windows!)


This software is not officially endorsed by Lynxmotion or Robotshop!

All product names, logos, and brands are property of their respective owners. All company, product and service names used in this website are for identification purposes only. Use of these names, logos, and brands does not imply endorsement.


Driver for the LSS servo


Modifiers used for some commands

Which status should trigger LED blinking Can be combined in a list

Colors for the LED on the servo

Driver errors

Version of the motor

Status of the motor as responded to status query If status is safe mode you can use query_safety_status to see more details

Reason why status mode is engaged if query_status doesn’t return SafeMode this should be NoLimits


ID used to talk to all motors on a bus at once