Create feetech_controller_example.rs

Author: pierre-rouanet

examples/feetech_controller_example.rs

@@ -0,0 +1,43 @@
+use std::{error::Error, thread, time::Duration};
+
+use rustypot::device::feetech_controller::FeetechFts3215Controller;
+fn main() -> Result<(), Box<dyn Error>> {
+    let serialportname: String = "/dev/tty.usbmodem58FA0818161".to_string();
+    let baudrate: u32 = 1_000_000;
+    let ids = vec![1, 2];
+
+    let serial_port = serialport::new(serialportname, baudrate)
+        .timeout(Duration::from_millis(1000))
+        .open()?;
+    println!("serial port opened");
+
+    let mut c = FeetechFts3215Controller::new()
+        .with_protocol_v1()
+        .with_serial_port(serial_port);
+
+    let mut times: Vec<f64> = Vec::new();
+    let duration = Duration::new(5, 0);
+    let start_overall = std::time::Instant::now();
+
+    while start_overall.elapsed() < duration {
+        let start_time = std::time::Instant::now();
+        let x = c.read_present_position(&ids);
+        let elapsed_time = start_time.elapsed();
+
+        println!("present pos: {:?}", x);
+        let elapsed_secs = elapsed_time.as_secs_f64();
+        println!("Time taken to read position: {:?}", elapsed_secs);
+
+        times.push(elapsed_secs);
+        thread::sleep(Duration::from_millis(10));
+    }
+
+    let mean = times.iter().sum::<f64>() / times.len() as f64;
+    let std_dev =
+        (times.iter().map(|&t| (t - mean).powf(2.0)).sum::<f64>() / times.len() as f64).sqrt();
+
+    println!("Mean time: {}", mean);
+    println!("Standard deviation time: {}", std_dev);
+
+    Ok(())
+}