stepper_lib

![Rust] ![Crates.io version] ![stepper_lib: rustc 1.68+]

Note

Many aspects of the library (for example the documentation) are not fully finished yet! (Though I try to update it as freqent as possible)

A library for all types of components used in robots, including controlls for stepper motors, servo motors and more complex assemblies using said motors. Currently all implementations are made for the raspberry pi, though new implementations for more controllers are currently being made.

Basis library for the sybot_lib

• Getting started

Goal

• Create an all-in-one library to control motors, read sensors and do basic calculations in rust.
• Keep it as easy to use as possible
• Specialize the library for hobbyists and tinkerers
• Offer options for static aswell as dynamic typings

In Action

Let us assume we want to control a simple stepper motor (in this example a 17HE151504S) with a PWM controller connected to the BCM pins 27 and 19.

```rust use core::f32::consts::PI;

// Include the library use stepper_lib::prelude::*;

// Pin declerations (BCM on raspberry pi) const PINDIR : u8 = 27; const PINSTEP : u8 = 19;

// Define distance and max speed const DELTA : Delta = Delta(2.0 * PI); const OMEGA : Omega = Omega(10.0);

fn main() -> Result<(), stepperlib::Error> { // Create the controls for a stepper motor let mut ctrl = StepperCtrl::new(StepperConst::MOT17HE151504S, PINDIR, PINSTEP); // Link the component to a system ctrl.writelink(LinkedData { u: 12.0, // System voltage in volts s_f: 1.5 // System safety factor, should be at least 1.0 }); ctrl.setup()?;

// Apply some loads
ctrl.apply_inertia(Inertia(0.2));
ctrl.apply_force(Force(0.10));

ctrl.set_omega_max(OMEGA);

println!("Staring to move");
ctrl.drive_rel(DELTA, 1.0)?;      // Move the motor
println!("Distance {}rad with max speed {:?}rad/s done", DELTA, OMEGA);

Ok(())

} ``` (Source: stepper_motor)

Features

• [x] Motors
  • [x] [Stepper motors](/examples/steppermotor.rs)
  • [x] Absolute/relative movements
  • [x] Continuous movements
  • [ ] Microstepping
  • [ ] Inverting logical signals
  • [x] [Servo motors](/docs/motors/servos.md)
  • [x] [DC motors](/docs/motors/dcmotors.md)
• [x] [Components](/docs/components.md)
  • [x] [Cylinder](/examples/cylinder.rs)
  • [x] Gear joint
  • [x] Cylinder-triangle
  • [x] [Conveyor](/examples/simple_conv/src/main.rs)
• [x] [Tools](/docs/tools.md)
  • [x] Tongs
  • [x] Axial joint
• [x] Calculation
  • [x] Complex acceleration curves
  • [x] Overloads
  • [x] Forces
  • [x] Inertias
• [ ] Measurements
  • [x] Simple switch
  • [ ] Rotary resolver
  • [x] Trait for custom measurements
• [ ] Extendable
  • [x] [Custom components](/docs/components.md#custom-components)
  • [x] Custom tools
  • [ ] Custom meaurement systems
• [x] [Unit system](/docs/unit_system.md)
• [ ] Minimal
  • [ ] Fully supports no_std environment
  • [ ] Available for basic embedded systems
• [ ] [Platforms](/docs/platforms.md)
  • [x] Raspberry Pi and similar
  • [ ] Arduino

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.