Crate syact 

syact

A library that defines actuators and their interaction with each other.

This library is intended to define bindings that can then be implemented by device-specific library, making their components available for use by general libraries like sybot.

In Action

use syact::prelude::*;

// Position of components
const POS : PositionMM = PositionMM(10.0);

// Create a new linear_axis (implements SyncActuator as their sub-component does)
let mut linear_axis = LinearAxis::new_belt_axis(
    // Some Demo-Actuator implementing (also implements SyncActuator)
    DemoActuator::new(), 
    Millimeters(0.5)    // The radius is set to 0.5, which means for each radian the motor moves, the linear_axis moves for 0.5 mm
);    

linear_axis.overwrite_abs_pos(POS);

assert!((linear_axis.pos() - POS).abs() < Millimeters(0.001));      // Check with small tolerance requred for stepper motors

Further libraries

• Basic libraries
  • syunit: Flexible unit system and basis for many traits in this library, furthermore embedded into it in the units module
  • sykin: Basic kinematic equations
• Advanced libraries
  • sybot: Follow up library that defines robots out of traits in this library
• Device-specific libraries
  • systep: Stepper motors and drivers library, implementing embedded-hal

Issues and requests

If you encounter any issues or if you have any request for new features, feel free to create an issue at the GitHub repo.

Re-exports

pub use parent::ActuatorParent;

pub use parent::RatioActuatorParent;

pub use sync::SyncActuator;

pub use sync::SyncActuatorState;

pub use sync::SyncActuatorBlocking;

pub use sync::SyncActuatorNB;

pub use syunit as units;

Modules

comps

Common components and their implementations, like gears, linear axes etc.

data

Structs for storing characteristics of stepper motors and so on

meas

Functions and Structs for taking measurements with a robot for e.g. position calculation

parent

Component parent relations and their implementation

prelude

Embed unit system library

sync

Everything about actuators that work synchronously

Macros

merge_actuator_traits

Helper macro for merging multiple Actuator traits into one, useful for group implementation

Enums

ActuatorError

General Error type for SyncActuators

InterruptReason

Reasons why an interrupt was triggered

Traits

AdvancedActuator

An advanced actuator allows applying loads that alter the actuators movement

AsyncActuator

A component which is asynchronous because of its hardware properties, e.g. a simple DC-Motors

DefinedActuator

An actuator that has a defined time to move for a PTP (Point-To-Point) movement

Interruptible

Represents an interruptible component, meaning Interruptors can be attached to modify the movement process

Interruptor

A trait for structs that help interrupting or watching movement processes, the most common use are measurement systems