New servo/controller API.

Full macro rework and deveice/servo cleanup.

Author: pierre-rouanet

Cargo.toml

@@ -8,7 +8,7 @@ description = "Package to communicate with Dynamixel motors."
 homepage = "https://www.pollen-robotics.com"
 repository = "https://github.com/pollen-robotics/rustypot"
 readme = "README.md"
-keywords = ["robotics", "dynamixel"]
+keywords = ["robotics", "dynamixel", "feetech"]
 categories = ["science::robotics"]
 
 

examples/dxl_320_example.rs

@@ -1,6 +1,6 @@
 use std::{error::Error, thread, time::Duration};
 
-use rustypot::device::xl320;
+use rustypot::servo::dynamixel::xl320;
 use rustypot::DynamixelProtocolHandler;
 
 fn main() -> Result<(), Box<dyn Error>> {

examples/dxl_force_fan_example.rs

@@ -1,6 +1,6 @@
 use std::{error::Error, thread, time::Duration};
 
-use rustypot::device::mx;
+use rustypot::servo::dynamixel::mx;
 use rustypot::DynamixelProtocolHandler;
 
 fn main() -> Result<(), Box<dyn Error>> {

examples/dxl_mx_example.rs

@@ -2,11 +2,10 @@ use std::f32::consts::PI;
 use std::time::SystemTime;
 use std::{error::Error, thread, time::Duration};
 
-use rustypot::device::mx;
+use rustypot::servo::dynamixel::mx::{self, conv};
 use rustypot::DynamixelProtocolHandler;
 
 use clap::Parser;
-use rustypot::device::mx::conv::radians_to_dxl_pos;
 
 use signal_hook::flag;
 
@@ -75,7 +74,7 @@ fn main() -> Result<(), Box<dyn Error>> {
             &io,
             serial_port.as_mut(),
             id,
-            radians_to_dxl_pos(target.into()),
+            conv::radians_to_dxl_pos(target.into()),
         )?;
 
         thread::sleep(Duration::from_millis(10));

examples/dxl_sinus.rs

@@ -1,8 +1,8 @@
 use std::{error::Error, thread, time::Duration};
 
-use rustypot::device::feetech_controller::FeetechFts3215Controller;
+use rustypot::servo::feetech::sts3215::STS3215Controller;
 fn main() -> Result<(), Box<dyn Error>> {
-    let serialportname: String = "/dev/tty.usbmodem58FA0818161".to_string();
+    let serialportname: String = "/dev/tty.usbmodem58FA0822621".to_string();
     let baudrate: u32 = 1_000_000;
     let ids = vec![1, 2];
 
@@ -11,7 +11,7 @@ fn main() -> Result<(), Box<dyn Error>> {
         .open()?;
     println!("serial port opened");
 
-    let mut c = FeetechFts3215Controller::new()
+    let mut c = STS3215Controller::new()
         .with_protocol_v1()
         .with_serial_port(serial_port);
 

examples/feetech_controller_example.rs renamed to examples/feetech_controller.rs

@@ -1,10 +1,10 @@
 use std::{error::Error, thread, time::Duration};
 
-use rustypot::{device::feetech_sts3215, DynamixelProtocolHandler};
+use rustypot::{servo::feetech::sts3215, DynamixelProtocolHandler};
 fn main() -> Result<(), Box<dyn Error>> {
-    let serialportname: String = "/dev/ttyACM0".to_string();
+    let serialportname: String = "/dev/tty.usbmodem58FA0822621".to_string();
     let baudrate: u32 = 1_000_000;
-    let ids = vec![20, 21, 22, 23, 24, 10, 11, 12, 13, 14, 30, 31, 32, 33];
+    let ids = vec![1, 2];
 
     let mut serial_port = serialport::new(serialportname, baudrate)
         .timeout(Duration::from_millis(1000))
@@ -20,11 +20,11 @@ fn main() -> Result<(), Box<dyn Error>> {
     while start_overall.elapsed() < duration {
         let start_time = std::time::Instant::now();
 
-        // let x: i16 = feetech_STS3215::read_present_position(&io, serial_port.as_mut(), ids[0])?;
-        let x = feetech_sts3215::sync_read_present_position(&io, serial_port.as_mut(), &ids)?;
+        let _x: i16 = sts3215::read_present_position(&io, serial_port.as_mut(), ids[0])?;
+        let x = sts3215::sync_read_present_position(&io, serial_port.as_mut(), &ids)?;
         let x: Vec<f64> = x
             .iter()
-            .map(|p| feetech_sts3215::conv::dxl_pos_to_radians(*p))
+            .map(|p| sts3215::conv::dxl_pos_to_radians(*p))
             .map(f64::to_degrees)
             .collect();
         println!("present pos: {:?}", x);

examples/feetech_example.rs renamed to examples/feetech_lowlevel_api.rs

@@ -1,7 +1,7 @@
 use std::time::SystemTime;
 use std::{error::Error, thread, time::Duration, time::Instant};
 
-use rustypot::device::orbita2d_poulpe::{self, MotorValue};
+use rustypot::servo::orbita::orbita2d_poulpe::{self, MotorValue};
 // use rustypot::device::orbita3d_poulpe::{self, MotorValue};
 use rustypot::DynamixelProtocolHandler;
 
@@ -108,7 +108,7 @@ fn main() -> Result<(), Box<dyn Error>> {
         //     },
         // );
 
-        let feedback = orbita2d_poulpe::write_target_position(
+        let feedback = orbita2d_poulpe::write_target_position_fb(
             &io,
             serial_port.as_mut(),
             id,

examples/poulpe2d.rs renamed to examples/orbita2d_poulpe.rs

@@ -2,7 +2,7 @@ use std::f32::consts::PI;
 use std::time::SystemTime;
 use std::{error::Error, thread, time::Duration};
 
-use rustypot::device::orbita_foc::{self, DiskValue};
+use rustypot::servo::orbita::orbita3d_foc::{self, DiskValue};
 use rustypot::DynamixelProtocolHandler;
 
 fn main() -> Result<(), Box<dyn Error>> {
@@ -13,23 +13,23 @@ fn main() -> Result<(), Box<dyn Error>> {
     let io = DynamixelProtocolHandler::v1().with_post_delay(Duration::from_millis(1));
 
     let id = 70;
-    let mut state = orbita_foc::read_motors_drivers_states(&io, serial_port.as_mut(), id)?;
+    let mut state = orbita3d_foc::read_motors_drivers_states(&io, serial_port.as_mut(), id)?;
     println!("state {:#010b}", state);
     println!("state {:?}", state);
 
-    let fw = orbita_foc::read_firmware_version(&io, serial_port.as_mut(), id)?;
+    let fw = orbita3d_foc::read_firmware_version(&io, serial_port.as_mut(), id)?;
     println!("Firmware version {:?}", fw);
 
-    orbita_foc::write_torque_enable(&io, serial_port.as_mut(), id, 1)?;
+    orbita3d_foc::write_torque_enable(&io, serial_port.as_mut(), id, 1)?;
     thread::sleep(Duration::from_millis(1000));
-    // orbita_foc::write_torque_enable(&io, serial_port.as_mut(), id, 0)?;
+    // orbita3d_foc::write_torque_enable(&io, serial_port.as_mut(), id, 0)?;
 
     // thread::sleep(Duration::from_millis(1000));
-    // orbita_foc::write_torque_enable(&io, serial_port.as_mut(), id, 1)?;
+    // orbita3d_foc::write_torque_enable(&io, serial_port.as_mut(), id, 1)?;
 
     // thread::sleep(Duration::from_millis(1000));
 
-    state = orbita_foc::read_motors_drivers_states(&io, serial_port.as_mut(), id)?;
+    state = orbita3d_foc::read_motors_drivers_states(&io, serial_port.as_mut(), id)?;
     println!("state {:#010b}", state);
     let now = SystemTime::now();
     // let x = io.ping(serial_port.as_mut(), id);
@@ -40,11 +40,11 @@ fn main() -> Result<(), Box<dyn Error>> {
         // let x = io.ping(serial_port.as_mut(), id);
         // println!("{:?}", x);
 
-        let pos = orbita_foc::read_present_position(&io, serial_port.as_mut(), id)?;
+        let pos = orbita3d_foc::read_present_position(&io, serial_port.as_mut(), id)?;
 
-        let tophall = orbita_foc::read_top_present_hall(&io, serial_port.as_mut(), id)?;
-        let midhall = orbita_foc::read_middle_present_hall(&io, serial_port.as_mut(), id)?;
-        let bothall = orbita_foc::read_bottom_present_hall(&io, serial_port.as_mut(), id)?;
+        let tophall = orbita3d_foc::read_top_present_hall(&io, serial_port.as_mut(), id)?;
+        let midhall = orbita3d_foc::read_middle_present_hall(&io, serial_port.as_mut(), id)?;
+        let bothall = orbita3d_foc::read_bottom_present_hall(&io, serial_port.as_mut(), id)?;
         println!(
             "{:?} tophall: {:?} midhal: {:?} bothall: {:?}",
             pos, tophall, midhall, bothall
@@ -53,7 +53,7 @@ fn main() -> Result<(), Box<dyn Error>> {
         let t = now.elapsed().unwrap().as_secs_f32();
         let target = 10.0_f32 * (2.0 * PI * 0.25 * t).sin();
 
-        orbita_foc::write_goal_position(
+        orbita3d_foc::write_goal_position(
             &io,
             serial_port.as_mut(),
             id,
@@ -69,7 +69,7 @@ fn main() -> Result<(), Box<dyn Error>> {
         thread::sleep(Duration::from_millis(10));
         total += 0.01;
     }
-    orbita_foc::write_torque_enable(&io, serial_port.as_mut(), id, 0)?;
+    orbita3d_foc::write_torque_enable(&io, serial_port.as_mut(), id, 0)?;
 
     thread::sleep(Duration::from_millis(1000));
     Ok(())

examples/foc.rs renamed to examples/orbita3d_foc.rs

@@ -2,7 +2,7 @@ use std::f32::consts::PI;
 use std::time::SystemTime;
 use std::{error::Error, thread, time::Duration, time::Instant};
 
-use rustypot::device::orbita3d_poulpe::{self, MotorValue};
+use rustypot::servo::orbita::orbita3d_poulpe::{self, MotorValue};
 use rustypot::DynamixelProtocolHandler;
 
 use clap::Parser;
@@ -129,7 +129,7 @@ fn main() -> Result<(), Box<dyn Error>> {
         t = now.elapsed().unwrap().as_secs_f32();
         let target = amplitude * 180.0_f32.to_radians() * (2.0 * PI * 0.5 * t).sin();
 
-        let feedback = orbita3d_poulpe::write_target_position(
+        let feedback = orbita3d_poulpe::write_target_position_fb(
             &io,
             serial_port.as_mut(),
             id,