Rustypot: a Rust package to communicate with Dynamixel motors

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Getting started

Rustypot is yet another communication library for robotis Dynamixel motors. It is currently used in the Reachy project.

Feature Overview

• Relies on 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 serialport = serialport::new("/dev/ttyACM0", 1000000) .timeout(Duration::frommillis(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.

Support

Rustypot is developed and maintained by Pollen-Robotics. They developped open-source tools for robotics manipulation. Visit https://pollen-robotics.com to learn more or join the Dicord community if you have any questions or want to share your projects.