Expand description
Yet another communication library for robotis Dynamixel motors.
Feature Overview
- Relies on serialport for serial communication
- Support for dynamixel protocol v1 and v2 (can also use both on the same bus)
- Support for sync read and sync write operations
- Easy support for new type of motors (register definition through macros)
- Pure Rust
Note: this version use std and Vec extensively.
Examples
use rustypot::{DynamixelSerialIO, device::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 io = DynamixelSerialIO::v1();
let pos =
mx::read_present_position(&io, serial_port.as_mut(), 11).expect("Communication error");
println!("Motor 11 present position: {:?}", pos);
Modules
- High-level register access functions for a specific dynamixel device
Macros
- Generates read and sync_read functions for given register
- Generates read, sync_read, write and sync_write functions for given register
- Generates write and sync_write functions for given register
Structs
- Raw dynamixel communication messages controller (protocol v1 or v2)
Enums
- Dynamixel Communication Error