Crate servocom 

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

Attribution

This crate is a derivative work based on servocom, originally developed and maintained by Pollen Robotics. It has been modified and extended from the upstream source.

Both the original work and this derivative are distributed under the Apache License 2.0. In accordance with Section 4 of the License, all original copyright, patent, trademark, and attribution notices from the source form have been retained, and this notice indicates that modifications have been made to the original files. See the NOTICE file distributed with this crate for additional details.

We sincerely thank the servocom authors and the Pollen Robotics team for releasing their work as open source.

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

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

With the high-level API

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

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

let mut c = Sts3215Controller::new().with_serial_port(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_servo_with

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

generate_special_instructions

register_servo

Structs

DynamixelProtocolHandler

Raw dynamixel communication messages controller (protocol v1 or v2)

FeetechProtocolHandler

Raw Feetech (FT-SCS) communication messages controller. Feetech servos use a single protocol version

Enums

CommunicationErrorKind

Dynamixel Communication Error