# dynamixel2 [![docs][docs-badge]][docs] [![tests][tests-badge]][tests]
[docs]: https://docs.rs/dynamixel2/
[tests]: https://github.com/robohouse-delft/dynamixel2-rs/actions?query=workflow%3Atests
[docs-badge]: https://docs.rs/dynamixel2/badge.svg
[tests-badge]: https://github.com/robohouse-delft/dynamixel2-rs/workflows/tests/badge.svg

An implementation of the [Dynamixel Protocol 2.0].

[Dynamixel Protocol 2.0]: https://emanual.robotis.com/docs/en/dxl/protocol2/

This library aims to provide a easy to use but low level implementation of the Dynamixel Protocol 2.0.
That means it allows you to execute arbitrary commands with arbitrary parameters.

The library does not aim to provide an easy interface to the higher level functions of a servo motor,
such as moving it to a specific angle or at a specific speed.
Instead, you will have to write the appropriate values to the correct registers yourself.

The main interface is the [`Bus`] struct, which represents the serial communication bus.
The [`Bus`] struct exposes functions for all supported instructions such as [`Bus::ping`], [`Bus::read`], [`Bus::write`] and much more.
Additionally, you can also transmit raw commands using [`Bus::write_instruction`] and [`Bus::read_status_response`], or [`Bus::transfer_single`].

The library currently implements all instructions except for the Control Table Backup, Fast Sync Read and Fast Sync Write instructions.

## Optional features

You can enable the `log` feature to have the library use `log::trace!()` to log all sent instructions and received replies.

[`Bus`]: https://docs.rs/dynamixel2/latest/dynamixel2/struct.Bus.html
[`Bus::ping`]: https://docs.rs/dynamixel2/latest/dynamixel2/struct.Bus.html#method.ping
[`Bus::read`]: https://docs.rs/dynamixel2/latest/dynamixel2/struct.Bus.html#method.read
[`Bus::write`]: https://docs.rs/dynamixel2/latest/dynamixel2/struct.Bus.html#method.write
[`Bus::write_instruction`]: https://docs.rs/dynamixel2/latest/dynamixel2/struct.Bus.html#method.write_instruction
[`Bus::read_status_response`]: https://docs.rs/dynamixel2/latest/dynamixel2/struct.Bus.html#method.read_status_response
[`Bus::transfer_single`]: https://docs.rs/dynamixel2/latest/dynamixel2/struct.Bus.html#method.transfer_single