Crate navigator_rs

Navigator-rs

This crate serves as the entry point for embedding applications using Rust on Blue Robotics’s Navigator.

The Navigator board has the Raspberry Pi HAT form factor, which allows you to easily attach it to a Raspberry Pi 4 board. Then you can unleash the power of Navigator to develop new solutions or interact with your ROV hardware.

The board offers the following capabilities:

Control:

• LEDs
• PWM (Pulse Width Modulation) with 16 channels

Measurements:

• ADC (Analog Digital Converter) entries
• Magnetic field
• Acceleration
• Angular velocity
• Temperature
• Pressure

Currently, it supports armv7 and aarch64 architectures, which are the official defaults for BlueOS. However, despite using the embedded-hal concept, new ports can be added as long as the platform matches the hardware design and specifications.

For more information, including installation instructions, schematics, and hardware specifications, please check the navigator hardware setup guide.

How to use this crate:

The capabilities of the Navigator can be accessed through the Navigator object. Please check the examples in the Implementations section.

Structs

• ADCData
  Encapsulates the value of ADC’s four channels.
• AxisData
  The AxisData struct encapsulate values for the x, y, and z axes.
• Led
  The Led struct represents the 3 LEDs on navigator board.
• Navigator
  The Navigator struct contains various components used for navigator. It includes PWM control, pressure and temperature sensing, analog-to-digital conversion, inertial measurement unit, magnetometer, and LEDs control.
• NavigatorBuilder
  Build pattern structure
• Pwm
  The Pwm struct represents a PWM (Pulse Width Modulation) controller with a PCA9685 chip and it’s output enable pin.
• SensorData
  Encapsulates the value of all sensors on the board.

Enums

• AdcChannel
  Set of available options to select ADC’s channel.
• PwmChannel
  Set of available options to select PWM’s channel.
• UserLed
  Set of options to control navigator’s LEDs.