update doc

Author: SteveNguyen

README.md

@@ -65,13 +65,21 @@ fn main() {
             .with_protocol_v1()
             .with_serial_port(serial_port);
 
-    let pos = c.read_present_position(&vec![1, 2]).unwrap();
+    let pos = c.sync_read_present_position(&vec![1, 2]).unwrap();
     println!("Motors present position: {:?}", pos);
 
-    c.write_goal_position(&vec![1, 2], &vec![1000, 2000]).unwrap();
+    c.sync_write_goal_position(&vec![1, 2], &vec![1000, 2000]).unwrap();
 }
 ```
 
+## Tools
+
+Simple bus scanning tool:
+
+```bash
+cargo run --bin=scan -- --serialport=/dev/ttyUSB0 --baudrate=1000000 --protocol=v1
+```
+
 ## Documentation
 
 See https://docs.rs/rustypot for more information on APIs and examples.
@@ -88,7 +96,7 @@ To build them locally, you can use [maturin](https://www.maturin.rs).
 maturin build --release --features python
 ```
 
-or, if you want to install them in your local python environment: 
+or, if you want to install them in your local python environment:
 
 ```bash
 maturin develop --release --features python
@@ -108,4 +116,4 @@ This library is licensed under the [Apache License 2.0](./LICENSE).
 ## Support
 
 Rustypot is developed and maintained by [Pollen-Robotics](https://pollen-robotics.com). They developed open-source hardware and tools for robotics.
-Visit https://pollen-robotics.com to learn more or join the [Discord community](https://discord.com/invite/Kg3mZHTKgs) if you have any questions or want to share your projects. 
+Visit https://pollen-robotics.com to learn more or join the [Discord community](https://discord.com/invite/Kg3mZHTKgs) if you have any questions or want to share your projects.

python/README.md

@@ -18,7 +18,7 @@ maturin develop --release --features python
 
 ## Usage
 
-The Python bindings exposes the same API as the Controller API in the rust crate. 
+The Python bindings exposes the same API as the Controller API in the rust crate.
 
 You first need to create a Controller object. For instance, to communicate with a serial port to Feetech STS3215 motors, you can do the following:
 
@@ -28,17 +28,34 @@ from rustypot.servo import Sts3215SyncController
 c = Sts3215SyncController(serial_port='/dev/ttyUSB0', baudrate=100000, timeout=0.1)
 ```
 
-Then, you can directly read/write any register of the motor. For instance, to read the present position of the motors with id 1 and 2, you can do:
+
+Then, you can directly read/write any register of the motor. For instance, to read the present position of the motor with id 1, you can do:
+
+```python
+
+pos = c.read_present_position(1)
+print(pos)
+```
+
+You can also write to the motors. For instance, to set the goal position of the motors with id 1 to 90° you can do:
 
 ```python
+import numpy as np
+c.write_goal_position(1, np.deg2rad(90.0))
+```
+
+
+Then, you can also sync_read any registers on multiple motors in a single operations. For instance, to read the present position of the motors with id 1 and 2, you can do:
 
-pos = c.read_present_position([1, 2])
+```python
+
+pos = c.sync_read_present_position([1, 2])
 print(pos)
 ```
 
-You can also write to the motors. For instance, to set the goal position of the motors with id 1 and 2 to 0.0 and 90° respectively, you can do:
+Same with sync_write. For instance, to set the goal position of the motors with id 1 and 2 to 0.0 and 90° respectively, you can do:
 
 ```python
 import numpy as np
-c.write_goal_position([1, 2], [0.0, np.deg2rad(90.0)])
-```
+c.sync_write_goal_position([1, 2], [0.0, np.deg2rad(90.0)])
+```

src/bin/scan.rs

@@ -47,8 +47,10 @@ fn main() -> Result<(), Box<dyn Error>> {
                     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);
-
-                    println!("Found motor with id {id} and model {model:?}");
+                    match model {
+                        Ok(m) => println!("Found motor with id {id} and model: {m:?}"),
+                        Err(e) => println!("Found motor with id {id} with {e:?}"),
+                    }
                 }
             }
             Err(e) => eprintln!("Error: {e}"),

src/servo/servo_macro.rs

@@ -845,7 +845,8 @@ macro_rules! register_servo {
             pub enum ServoKind {
                 $(
                     $(
-                        [<$group:camel $name:camel>],
+                        #[allow(non_camel_case_types)]
+                        [<$group _ $name>],
                     )+
                 )+
             }
@@ -854,7 +855,7 @@ macro_rules! register_servo {
                     match model_number {
                         $(
                             $(
-                                $model_number => Ok(Self::[<$group:camel $name:camel>]),
+                                $model_number => Ok(Self::[<$group _ $name>]),
                             )+
                         )+
                             _ => Err(format!("Unknown model number: {}", model_number)),