Crate robot_control 

Robot Control

A Rust library for controlling DC motor robots via PWM motor driver boards.

This crate provides a hardware-abstracted MotorDriver trait, allowing you to control robots in production (with real I2C hardware) and in tests (with a mock driver).

Features

• pca9685 — Enables the Pca9685MotorBoard implementation for PCA9685 PWM boards over I2C. Only available on Linux with I2C support.

Quick Start

use robot_control::{Motor, MotorDriver, Robot, RobotConfig};
use std::sync::Arc;
use tokio::sync::Mutex;

// Use any MotorDriver implementation (mock for testing, Pca9685 for real hardware)
let driver: Arc<Mutex<dyn MotorDriver>> = todo!("create your driver");
let robot = Robot::new(driver, RobotConfig::default())?;
robot.drive(0.5, 0.5).await?;
robot.stop().await?;
robot.shutdown().await;

Re-exports

pub use error::MotorError;

pub use error::RobotError;

pub use motor::Motor;

pub use motor::MotorDriver;

pub use robot::Robot;

pub use robot::RobotConfig;

pub use robot::RobotOutputState;

pub use robot::RobotPhase;

pub use robot::RobotStatus;

Modules

error

Error types for the robot-control crate.

motor

Motor driver abstraction and motor definitions.

robot

High-level robot controller with smooth motor ramping.