Robotic Arm Complex

Control system for robotic manipulators, built with Rust for the ESP32.

Project Status

🚀 Work in Progress: For a detailed list of planned features and current progress, please check our Roadmap.

Architecture

common/ – Shared Library (no_std)

Platform-agnostic types and protocol schemas shared between the firmware and the host.

• Zero-cost Units: Compile-time verified physical quantities (Radians, Seconds, etc.).
• Binary Protocol: Data serialization schemas via Postcard with LEB128 framing.
• Data Models: Definitions for kinematics parameters and network stack configurations.

firmware/ – ESP32 Firmware

Dual-core, asynchronous implementation leveraging Embassy.

• Core 0 (System): WiFi (AP/STA modes), Flash storage management, and async network stack.
• Core 1 (Real-time): Dedicated trajectory interpolation and high-precision PWM control.

cli/ – Command-Line Interface

Network client for sending control commands and system configuration.

Requirements

• Firmware: ESP32 (dual-core Xtensa/RISC-V supported by esp-hal).
• Host (CLI): Linux, macOS, or Windows.
• Rust: 1.90 or later (Edition 2024).
• Build: cargo-espflash and the Rust Xtensa/RISC-V toolchain.

License

Licensed under either of Apache License 2.0 or MIT at your option.