Crate sybot

sybot

A simple library to control groups of components and robots.

Extension library for the syact.

– UNFINISHED DOCS –

Full documentation will be added soon

Goal

• Create an all-in-one library for controlling robots, exposing them to networks and doing basic calculations

In action

The following example creates a new SyArm robot, runs all setup functions and executes a GCode-script.

Click to show Cargo.toml

# ...

[dependencies]
# Include the library configured for the raspberry pi
sybot = { version = "0.8.2, features = [ "rasp" ] }

# ...

use sybot::{Robot, JsonConfig, ActRobot, Setup};
use sybot::robot::SyArm;
use sybot::intpr::Interpreter;
use sybot::intpr::gcode::init_intpr;

fn main() -> std::io::Result<()> {
    // Load the standard-partlibs in order to use motor names as data
    //
    // ```json
    // "device": {
    //     "consts": "MOT_17HE15_1504S",    // Motor name, see
    // // <https://docs.rs/syact/0.11.1/syact/data/struct.StepperConst.html#associatedconstant.MOT_17HE15_1504S>
    //     "pin_dir": 17,
    //     "pin_step": 26
    // },
    // ```
    let libs = sybot::partlib::create_std_libs();

    // Create the robot out of the [configuration file]
    // (https://github.com/SamuelNoesslboeck/sybot/blob/master/res/SyArm_Mk1.conf.json)
    let mut syarm = SyArm::from_conf(
        JsonConfig::read_from_file(&libs, "res/SyArm_Mk1.conf.json")
    )?;

    // Run setup functions
    syarm.setup();
    // Enables async movements (multiple motors moving at once)
    syarm.setup_async();

    // DEBUG
        // Select "NoTool" at index 2
        syarm.set_tool_id(2);
    // 

    // Create a new GCode interpreter
    let intpr = init_intpr();

    // Run a GCode script
    dbg!(intpr.interpret_file(&mut syarm, "res/gcode/basicYZpos.gcode"));

    Ok(())
}

(Source: “examples/in_action.rs”)

Features

For more features, see syact#features

• Robots
  • Basic 3D-Printer like robot (“Syomat”)
  • Basic robotic arm (“SyArm”)
  • Custom robots
  • Tools
• Configuration files
  • JSON
    • Parsing
    • Generating
• Calculation
  • Forces
    • Basic
    • Advanced
  • Inertias
    • Basic
    • Advanced
  • Paths
• Controls
  • GCode
  • Lua scripting
• Networking
  • HTTP
  • MQTT
  • Serial
• Logging

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 robs::Robot;

pub use desc::Descriptor;

pub use stat::Station;

Modules

config

Configurations for the robot in terms of position, speed and mode

desc

Everything related to the Descriptor trait

prelude

Quick and easy import of the library essentials

rcs

RCS (Robot-Coordinate-System) module, manages the coordinate system and positions

robs

Everything related to the Robot trait

stat

Everything related to the Station trait

Enums

PushMsg

Different types of events that can occur

Traits

Interpreter

Interpreters convert a string prompt into actions for the robot

PushRemote

A PushRemote defines a remote connection that the robot can push values to

Type Aliases

Error

Universal error type used in the crate