Crate mecha10_drivers_motor 

Motor Drivers for Mecha10

This crate provides drivers for common motor types used in robotics:

• Dynamixel: Smart servo motors (XL, XM, XH, XC series)
• ODrive: High-power BLDC motor controller
• Stepper: Stepper motors via Step/Dir interface

Features

• Unified MotorDriver trait for all motor types
• Position, velocity, and torque control modes
• Multi-motor synchronized control
• Calibration data persistence
• Hardware error detection and reporting
• Configurable PID gains
• Temperature and current monitoring

Example

use mecha10_drivers_motor::dynamixel::{DynamixelDriver, DynamixelConfig};
use mecha10_drivers_motor::common::{MotorDriver, MotorCommand, ControlMode};

#[tokio::main]
async fn main() -> Result<(), Box<dyn std::error::Error>> {
    let config = DynamixelConfig {
        port: "/dev/ttyUSB0".to_string(),
        baud_rate: 1_000_000,
        motor_ids: vec![1, 2, 3],
        control_mode: ControlMode::Position,
        update_rate_hz: 100.0,
        calibration_file: None,
        position_pid: None,
        velocity_pid: None,
    };

    let mut driver = DynamixelDriver::new(config);
    driver.init().await?;

    // Send position command
    let cmd = MotorCommand {
        motor_id: 1,
        mode: ControlMode::Position,
        target: 1.57, // 90 degrees in radians
        velocity_limit: None,
        torque_limit: None,
        profile_velocity: None,
        profile_acceleration: None,
    };

    driver.send_command(&cmd).await?;

    Ok(())
}

Hardware Setup

Dynamixel Wiring

Dynamixel Chain:
USB2Dynamixel or U2D2 → Dynamixel servo(s) in daisy chain

Power: 12V (XL series) or 12-24V (XM/XH series)
Communication: TTL (3-pin) or RS-485 (4-pin)

ODrive Wiring

ODrive Controller:
- Motor phase wires (3-phase)
- Encoder wires (Hall or quadrature)
- Power: 12-56V DC
- USB or UART for communication

Stepper Wiring

Stepper Driver (DRV8825/A4988):
- Step, Dir, Enable pins
- Motor coil wires (typically 4-wire bipolar)
- Power: depends on motor voltage rating

Re-exports

pub use common::ControlMode;

pub use common::MotorCalibration;

pub use common::MotorCommand;

pub use common::MotorDriver;

pub use common::MotorError;

pub use common::MotorInfo;

pub use common::MotorState;

pub use common::MultiMotorCommand;

pub use common::PIDGains;

pub use dynamixel::DynamixelConfig;

pub use dynamixel::DynamixelDriver;

pub use l298n::L298NConfig;

pub use l298n::L298NDriver;

pub use l298n::L298NMotorPins;

pub use odrive::ODriveConfig;

pub use odrive::ODriveDriver;

pub use stepper::StepperConfig;

pub use stepper::StepperDriver;

pub use stepper::StepperInterface;

pub use stepper::StepperMotorConfig;

Modules

common

Common types and utilities for motor drivers

dynamixel

Dynamixel Servo Motor Driver

l298n

L298N Dual H-Bridge Motor Driver

odrive

ODrive BLDC Motor Controller Driver

stepper

Stepper Motor Driver