Update scan.rs

Author: pierre-rouanet

src/bin/scan.rs

@@ -1,5 +1,4 @@
 use clap::{Parser, ValueEnum};
-use std::collections::HashMap;
 use std::{error::Error, time::Duration};
 
 use rustypot::servo::ServoKind;
@@ -29,17 +28,8 @@ fn main() -> Result<(), Box<dyn Error>> {
     let baudrate: u32 = args.baudrate;
     let protocol: ProtocolVersion = args.protocol;
 
-    //print the standard ids for the arm motors
+    println!("Scanning for Dynamixel motors on {serialport} at {baudrate} baud using {protocol:?}");
 
-    //print all the argument values
-    println!("serialport: {}", serialport);
-    println!("baudrate: {}", baudrate);
-    match protocol {
-        ProtocolVersion::V1 => println!("protocol: V1"),
-        ProtocolVersion::V2 => println!("protocol: V2"),
-    }
-
-    let mut found = HashMap::new();
     println!("Scanning...");
     let mut serial_port = serialport::new(serialport, baudrate)
         .timeout(Duration::from_millis(10))
@@ -55,22 +45,15 @@ fn main() -> Result<(), Box<dyn Error>> {
             Ok(present) => {
                 if present {
                     let model = dph.read(serial_port.as_mut(), id, 0, 2).unwrap();
+                    let model = u16::from_le_bytes([model[0], model[1]]);
+                    let model = ServoKind::try_from(model);
 
-                    found.insert(id, u16::from_le_bytes([model[0], model[1]]));
+                    println!("Found motor with id {id} and model {model:?}");
                 }
             }
             Err(e) => eprintln!("Error: {e}"),
         };
     }
 
-    println!("found {} motors", found.len());
-    for (key, value) in found {
-        println!(
-            "id: {} model: {:?}",
-            key,
-            ServoKind::try_from(value).unwrap()
-        );
-    }
-
     Ok(())
 }