Crate rustypot

A low-level communication library for servo (Dynamixel and Feetech motors).

Feature Overview

• Relies on serialport for serial communication
• Support for dynamixel protocol v1 and v2 (both can be used on the same io)
• Support for sync read and sync write operations
• Easy support for new type of motors (register definition through macros)
• Pure Rust

APIs

It exposes two APIs:

• DynamixelProtocolHandler: low-level API. It handles the serial communication and the Dynamixel protocol parsing. It can be used for fine-grained control of the shared bus with other communication.
• Controller: high-level API for the Dynamixel protocol. Simpler and cleaner API but it takes full ownership of the io (it can still be shared if wrapped with a mutex for instance).

See the examples below for usage.

Examples

With the low-level API

use rustypot::{DynamixelProtocolHandler, servo::dynamixel::mx};
use std::time::Duration;

let mut serial_port = serialport::new("/dev/ttyACM0", 1_000_000)
    .timeout(Duration::from_millis(10))
    .open()
    .expect("Failed to open port");

let dph = DynamixelProtocolHandler::v1();

let raw_pos: i16 = mx::read_raw_present_position(&dph, serial_port.as_mut(), 11).expect("Communication error");
let pos: f64 =
    mx::read_present_position(&dph, serial_port.as_mut(), 11).expect("Communication error");
println!("Motor 11 present position: {:?}rads (raw: {:?})", pos, raw_pos);

With the high-level API

use rustypot::servo::feetech::sts3215::Sts3215Controller;
use std::time::Duration;

let serial_port = serialport::new("/dev/ttyUSB0", 1_000_000)
    .timeout(Duration::from_millis(1000))
    .open()
    .unwrap();

let mut c = Sts3215Controller::new()
        .with_protocol_v1()
        .with_serial_port(serial_port);

let pos = c.sync_read_present_position(&vec![1, 2]).unwrap();
println!("Motors present position: {:?}", pos);

c.sync_write_goal_position(&vec![1, 2], &vec![0.0, 90.0_f64.to_radians()]).unwrap();

Modules

servo

Macros

generate_addr_read_write

generate_protocol_constructor

generate_reg_access

generate_reg_read

generate_reg_write

generate_reg_write_fb

Generates write and sync_write functions with feedback for given register

generate_servo

register_servo

Structs

DynamixelProtocolHandler

Raw dynamixel communication messages controller (protocol v1 or v2)

Enums

CommunicationErrorKind

Dynamixel Communication Error