Crate pololu_tic 

Pololu Tic Driver

A platform agnostic Rust driver for the Pololu Tic motor driver boards. Currently this library only supports the I2C interface of the boards, but serial support is planned.

This library supports the same boards the equivalent Arduino library supports, currently the T500, T834, T825, T249, 36v4 are supported.

Example

A basic example of using this library to set up and control a Tic36v4 is as follows. Ensure you replace <i2c_bus> with your platform’s embedded_hal I²C interface.

use pololu_tic::{TicBase, TicI2C, TicProduct};

let mut tic = pololu_tic::TicI2C::new_with_address(
    <i2c_bus>,
    TicProduct::Tic36v4,
    14
);

tic.set_target_velocity(2000000);

loop {
    tic.reset_command_timeout();
}

Modules

base

Base functions

i2c

I2C interface to a Tic motor driver board.

Structs

TicI2C

I2C interface to a Tic board.

Enums

TicAgcBottomCurrentLimit

Possible AGC buttom current limit percentages.

TicAgcCurrentBoostSteps

Possible AGC current boost steps values.

TicAgcFrequencyLimit

Possible AGC frequency limit values.

TicAgcMode

Possible AGC modes.

TicCommand

The Tic command codes which are used for its serial, I2C, and USB interface. These codes are used by the library and you should not need to use them.

TicDecayMode

The possible decay modes.

TicError

This enum defines the Tic’s error bits. See the “Error handling” section of the Tic user’s guide for more information about what these errors mean.

TicHandlerError

The generic error type for anything in this crate.

TicHpDriverError

The bits in the “Last HP driver errors” variable.

TicInputState

The possible states of the Tic’s main input.

TicMiscFlags1

The bits in the Tic’s Misc Flags 1 register. You should not need to use this directly. See TicBase::is_energized() and TicBase::is_position_uncertain().

TicMotorDriverError

Possible motor driver errors for the Tic T249.

TicOperationState

The possible operation states for the Tic.

TicPin

The Tic’s control pins.

TicPinState

The Tic’s pin states.

TicPlanningMode

The possible planning modes for the Tic’s step generation code.

TicProduct

The type of Tic driver that is being represented.

TicReset

The possible causes of a full microcontroller reset for the Tic.

TicStepMode

The possible step modes.

Traits

TicBase