# 睿尔曼机械臂 Rust SDK

[![Crates.io][crates-badge]][crates-url]
[![Docs.rs][doc-badge]][doc-url]
[![MIT licensed][mit-badge]][mit-url]

[crates-badge]: https://img.shields.io/badge/crates-0.2.0-yellow
[crates-url]: https://crates.io/crates/realman
[doc-badge]: https://img.shields.io/badge/doc-latest-blue
[doc-url]: https://docs.rs/realman
[mit-badge]: https://img.shields.io/badge/license-MIT-blue.svg
[mit-url]: https://opensource.org/licenses/MIT

这是睿尔曼机械臂的 `Rust SDK` ，旨在帮助 `Rust` 开发者更好的对睿尔曼机械臂进行二次开发。

`SDK` 是根据官网 `json` 协议开发。[官网链接](https://develop.realman-robotics.com/robot/json/getStartedJson.html)

## 作者介绍

* 作者: 李扬(Leon)
* 个人网站: 技安Rust笔记 - [https://echoli.cn](https://echoli.cn)
* Github: [https://github.com/EchoRust/realman](https://github.com/EchoRust/realman)

## 使用方法

```toml
[dependencies]
realman = "0.2.0"
```

## 三次点头示例

```rust
use realman::{traits::MotionTrait, ArmType, Realman, TrajectoryConnect};

fn main() {
    let realman = Realman::default();

    if let Ok(mut socket) = realman.connect() {
        socket.movej(ArmType::Gen72([0; 7]), 50, 0, TrajectoryConnect::Now).ok();

        for _ in 0..3 {
            socket.set_joint_step(&[6, -15000], 50).ok();
            socket.set_joint_step(&[6, 15000], 50).ok();
        }
    }
}
```

##

## License

The MIT License (MIT)

Copyright (c) 2024-present, 李扬(Leon)