Orbita3d Rust crate

The crate is written in Rust and is communicating difectly wit the EtherCAT IgH Master. It uses the rust wrapper crate ethercat-rs and builds on top of it to provide a more user friendly interface to the user.

Prerequisites

In order to run this project, you need to have Rust installed on your machine. You can install it by following the instructions on the official Rust website. Additionally, you will need to have the EtherCAT master installed on your machine. You can find the instructions on how to install it here.

Importing the crate

The crate is designed to be used as a library in your project. You can include it in your Cargo.toml file as a dependency:

....
[dependencies]
...
orbita3d_controller = { git = "https://github.com/pollen-robotics/orbita3d_control.git", branch = "develop" }

Or if you need the kinematics module as well:

....
[dependencies]
...
orbita3d_kinematics = { git = "https://github.com/pollen-robotics/orbita3d_control.git", branch = "develop" }

Then you can use it in your Rust code directly. See the examples in the examples folder for more information - here.

Installing from source

If your applicaiton requires modifying the code and you want to build the project from source, you can do so by following these steps. First clone the repository

git clone git@github.com:pollen-robotics/orbita3d_control.git

Then, you can build the project by running:

cargo build --release

Simple test

If everithing went well you will be able to run the simple test, position your terminal in the orbita3d_controller folder and run:

RUST_LOG=info cargo run --release --example=poulpe3d -- --start-server

This test will do a short sinusoidal movement of the orbita actuator around the yaw axis.

Usage Rust API

The Rust API is composed of two main modules: orbita3d_kinematics and orbita3d_controller. The first one contains the forward and inverse kinematics of the actuator, while the second one contains the low-level communication and control of the actuator.

You can get inspired by the examples in the examples folder to see the API in use - see here.