Rustypot: a Rust package to communicate with Dynamixel motors

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). Currently support for dynamixel XL320, XL330, XL430, XM430, MX*, Orbita 2D & 3D.
• Pure Rust

Examples

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.

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 Discord community if you have any questions or want to share your projects.