Crate moteus 

A rust implementation of the Moteus Protocol. Used to communicate with Moteus controllers (moteus-r4, moteus-n1) over CAN-FD.

Re-exports

pub use fdcanusb;

pub use fdcanusb::serial2;

Modules

frame

This module contain structs which can be used to build common frames, such as Stop and Position each impl Into<FrameBuilder> and can be passed into functions such as crate::Controller::send_with_query.

registers

Registers for the Moteus controllers

Structs

Controller

The main struct for interacting with the Moteus.

FdCanUSB

FdCanUSB communications struct

Frame

A frame is a collection of subframes These can be converted into bytes and sent to the Moteus Controller.

FrameBuilder

A builder for creating a Frame. This is the recommended way to create a frame.

ResponseFrame

A response frame is a collection of registers returned from the Moteus Controller. The registers can be accessed by their type using the get method. Many registers can be accessed at once using the get_many method.

Enums

Error

Errors that can occur when interacting with the Moteus.

FrameError

Errors that can occur when creating frames from multiple subframes.

FrameParseError

Subframe parsing errors occur when a sequence of bytes is parsed into a subframe.

RegisterError

Errors that can occur when writing and/or parsing registers

Resolution

Moteus register can be read in multiple resolutions (Int8, Int16, Int32, Float).