{"id":51186236,"url":"https://github.com/takarakasai/misa-actuator","last_synced_at":"2026-06-27T10:03:12.924Z","repository":{"id":355320037,"uuid":"1227528825","full_name":"takarakasai/misa-actuator","owner":"takarakasai","description":"Unified Rust motor-control interface for multiple servo families (Robstride, LK Motor, DAMIAO) over RS485 / CAN / CAN-FD — with a driver-agnostic debug TUI.","archived":false,"fork":false,"pushed_at":"2026-06-13T21:07:55.000Z","size":152,"stargazers_count":0,"open_issues_count":0,"forks_count":0,"subscribers_count":0,"default_branch":"main","last_synced_at":"2026-06-13T23:11:22.684Z","etag":null,"topics":["actuator-tui","can-bus","canfd","damiao","motor-control","qdd","robotics","robstride","rs485","rust","servo","socketcan"],"latest_commit_sha":null,"homepage":"","language":"Rust","has_issues":true,"has_wiki":null,"has_pages":null,"mirror_url":null,"source_name":null,"license":null,"status":null,"scm":"git","pull_requests_enabled":true,"icon_url":"https://github.com/takarakasai.png","metadata":{"files":{"readme":"README.md","changelog":null,"contributing":null,"funding":null,"license":null,"code_of_conduct":null,"threat_model":null,"audit":null,"citation":null,"codeowners":null,"security":null,"support":null,"governance":null,"roadmap":null,"authors":null,"dei":null,"publiccode":null,"codemeta":null,"zenodo":null,"notice":null,"maintainers":null,"copyright":null,"agents":null,"dco":null,"cla":null}},"created_at":"2026-05-02T20:11:18.000Z","updated_at":"2026-06-13T21:07:59.000Z","dependencies_parsed_at":null,"dependency_job_id":null,"html_url":"https://github.com/takarakasai/misa-actuator","commit_stats":null,"previous_names":["takarakasai/misa-actuator"],"tags_count":0,"template":false,"template_full_name":null,"purl":"pkg:github/takarakasai/misa-actuator","repository_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/takarakasai%2Fmisa-actuator","tags_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/takarakasai%2Fmisa-actuator/tags","releases_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/takarakasai%2Fmisa-actuator/releases","manifests_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/takarakasai%2Fmisa-actuator/manifests","owner_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners/takarakasai","download_url":"https://codeload.github.com/takarakasai/misa-actuator/tar.gz/refs/heads/main","sbom_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories/takarakasai%2Fmisa-actuator/sbom","scorecard":null,"host":{"name":"GitHub","url":"https://github.com","kind":"github","repositories_count":286080680,"owners_count":34848946,"icon_url":"https://github.com/github.png","version":null,"created_at":"2022-05-30T11:31:42.601Z","updated_at":"2026-05-26T15:22:16.424Z","status":"online","status_checked_at":"2026-06-27T02:00:06.362Z","response_time":126,"last_error":null,"robots_txt_status":"success","robots_txt_updated_at":"2025-07-24T06:49:26.215Z","robots_txt_url":"https://github.com/robots.txt","online":true,"can_crawl_api":true,"host_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub","repositories_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repositories","repository_names_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/repository_names","owners_url":"https://repos.ecosyste.ms/api/v1/hosts/GitHub/owners"}},"keywords":["actuator-tui","can-bus","canfd","damiao","motor-control","qdd","robotics","robstride","rs485","rust","servo","socketcan"],"created_at":"2026-06-27T10:03:12.364Z","updated_at":"2026-06-27T10:03:12.914Z","avatar_url":"https://github.com/takarakasai.png","language":"Rust","funding_links":[],"categories":[],"sub_categories":[],"readme":"# misa-actuator\n\nCommon actuator-control interface for multiple servo-motor families on\nmultiple bus transports, plus a debug TUI.\n\n## Workspace layout\n\n```\ncrates/\n├── misa-actuator/          # common Actuator trait, types, unified Error\n├── misa-actuator-tui/      # ratatui-based debug TUI (driver-agnostic)\n├── lkmotor-protocol/       # LK Motor V3 frame codec (no_std)\n├── lkmotor-driver/         # LK Motor driver, impl Actuator\n├── robstride-protocol/     # Robstride frame codec (no_std)\n├── robstride-driver/       # Robstride driver, impl Actuator\n└── robstride-cli/          # CLI test app for Robstride\n```\n\n## Architecture\n\n`misa_actuator::Actuator` is the SI-unit motor-control trait that\napplications speak. Each motor family has its own internal **bus** trait\n(e.g. `LkBus`, `RobstrideBus`) so that the same motor protocol can run on\nRS485 / SocketCAN / EtherCAT / etc. Driver structs are generic over the\nbus, and the `Actuator` impl is bus-independent.\n\n```\n        application / TUI  ─►  dyn Actuator\n                                   ▲\n                ┌──────────────────┼──────────────────┐\n                │                  │                  │\n           LkMotor\u003cB\u003e        RobstrideMotor\u003cB\u003e   MyActuatorMotor\u003cB\u003e\n                │                  │                  │\n            LkBus trait       RobstrideBus trait   MyActBus trait\n                │                  │                  │\n       (RS485 / CAN / ...)  (SocketCAN / USB-CAN)  (EtherCAT / CAN / ...)\n```\n","project_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftakarakasai%2Fmisa-actuator","html_url":"https://awesome.ecosyste.ms/projects/github.com%2Ftakarakasai%2Fmisa-actuator","lists_url":"https://awesome.ecosyste.ms/api/v1/projects/github.com%2Ftakarakasai%2Fmisa-actuator/lists"}