https://github.com/pollen-robotics/rustypot

Communication with Dynamixel like devices.
https://github.com/pollen-robotics/rustypot

Last synced: about 1 month ago
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Communication with Dynamixel like devices.

• Host: GitHub
• URL: https://github.com/pollen-robotics/rustypot
• Owner: pollen-robotics
• License: apache-2.0
• Created: 2022-06-07T08:28:29.000Z (over 2 years ago)
• Default Branch: develop
• Last Pushed: 2024-11-21T13:52:28.000Z (2 months ago)
• Last Synced: 2024-11-21T14:37:32.686Z (2 months ago)
• Language: Rust
• Homepage: https://crates.io/crates/rustypot
• Size: 186 KB
• Stars: 17
• Watchers: 2
• Forks: 4
• Open Issues: 9
• Metadata Files:
  • Readme: README.md
  • Changelog: Changelog.md
  • License: LICENSE

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README

        
# Rustypot: a Rust package to communicate with Dynamixel motors

[![Build Status]][actions] [![Latest Version]][crates.io]

[Build Status]: https://img.shields.io/github/actions/workflow/status/pollen-robotics/rustypot/rust.yml?branch=master

[actions]: https://github.com/pollen-robotics/rustypot/actions?query=branch%3Amaster

[Latest Version]: https://img.shields.io/crates/v/rustypot.svg

[crates.io]: https://crates.io/crates/rustypot

## Getting started

Rustypot is yet another communication library for robotis Dynamixel motors. It is currently used in the [Reachy project](https://www.pollen-robotics.com/reachy/).

## Feature Overview

* Relies on [serialport](https://docs.rs/serialport/latest/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

### Examples

```rust

use rustypot::{device::mx, DynamixelSerialIO};

use std::time::Duration;

fn main() {

    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();

    loop {

        let pos =

            mx::read_present_position(&io, serial_port.as_mut(), 11).expect("Communication error");

        println!("Motor 11 present position: {:?}", pos);

    }

}

```

## Documentation

See https://docs.rs/rustypot for more information on APIs and examples.

## License

This library is licensed under the [Apache License 2.0](./LICENSE).

## Support

Rustypot is developed and maintained by [Pollen-Robotics](https://pollen-robotics.com). They developped open-source tools for robotics manipulation.

Visit https://pollen-robotics.com to learn more or join the [Discord community](https://discord.com/invite/Kg3mZHTKgs) if you have any questions or want to share your projects.