https://github.com/takarakasai/misa-actuator
Unified Rust motor-control interface for multiple servo families (Robstride, LK Motor, DAMIAO) over RS485 / CAN / CAN-FD — with a driver-agnostic debug TUI.
https://github.com/takarakasai/misa-actuator
actuator-tui can-bus canfd damiao motor-control qdd robotics robstride rs485 rust servo socketcan
Last synced: 16 days ago
JSON representation
Unified Rust motor-control interface for multiple servo families (Robstride, LK Motor, DAMIAO) over RS485 / CAN / CAN-FD — with a driver-agnostic debug TUI.
- Host: GitHub
- URL: https://github.com/takarakasai/misa-actuator
- Owner: takarakasai
- Created: 2026-05-02T20:11:18.000Z (2 months ago)
- Default Branch: main
- Last Pushed: 2026-06-13T21:07:55.000Z (30 days ago)
- Last Synced: 2026-06-13T23:11:22.684Z (30 days ago)
- Topics: actuator-tui, can-bus, canfd, damiao, motor-control, qdd, robotics, robstride, rs485, rust, servo, socketcan
- Language: Rust
- Homepage:
- Size: 148 KB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
-
Metadata Files:
- Readme: README.md
Awesome Lists containing this project
README
# misa-actuator
Common actuator-control interface for multiple servo-motor families on
multiple bus transports, plus a debug TUI.
## Workspace layout
```
crates/
├── misa-actuator/ # common Actuator trait, types, unified Error
├── misa-actuator-tui/ # ratatui-based debug TUI (driver-agnostic)
├── lkmotor-protocol/ # LK Motor V3 frame codec (no_std)
├── lkmotor-driver/ # LK Motor driver, impl Actuator
├── robstride-protocol/ # Robstride frame codec (no_std)
├── robstride-driver/ # Robstride driver, impl Actuator
└── robstride-cli/ # CLI test app for Robstride
```
## Architecture
`misa_actuator::Actuator` is the SI-unit motor-control trait that
applications speak. Each motor family has its own internal **bus** trait
(e.g. `LkBus`, `RobstrideBus`) so that the same motor protocol can run on
RS485 / SocketCAN / EtherCAT / etc. Driver structs are generic over the
bus, and the `Actuator` impl is bus-independent.
```
application / TUI ─► dyn Actuator
▲
┌──────────────────┼──────────────────┐
│ │ │
LkMotor RobstrideMotor MyActuatorMotor
│ │ │
LkBus trait RobstrideBus trait MyActBus trait
│ │ │
(RS485 / CAN / ...) (SocketCAN / USB-CAN) (EtherCAT / CAN / ...)
```