Rust Robotics ToolKit

A set of algorithms and other tools for robotics in Rust.

It is partially no_std. It does not currently integrate with any API directly, but this may be added in the future.

License

GNU Lesser General Public License, version 3 only

Available

• PID controller**
• Trapezoidal motion profile**
• Motor and encoder control system*

*Partially available in no_std

**Fully available in no_std

Future

• Stream system
• Noise filtering
• Drive base control
  • Spline-based path planning
• Feed forward control
• Jerk control
  • S-curve motion profile

Changes

0.1.0

Initial release.

0.1.1

Fix motion profile issue.

0.2.0-alpha.1

Start new motor-encoder system.

0.2.0-alpha.2

Function for motors to follow motion profiles.

0.2.0-beta.1

Allow the user to run a custom update loop for motion profile following as an alternative to the single function.

0.2.0-beta.2

Add an update method to encoders.

0.2.0

Add an update method to motors, allow easier detection of parts of motion profiles, and reorganize the package to use features with the motor-encoder system in a module.

0.3.0-alpha.1

Start new stream system.

0.3.0-alpha.2

Reorganize a bit and add EWMA stream.

0.3.0-alpha.3

Add moving average stream.

0.3.0-alpha.4

• performance improvements
  • use array instead of vec for inputs to SumStream and ProductStream
  • avoid unnecessary weight sum calculation in MovingAverageStream
  • make the number of shifts in PIDControllerShift a constant
• replace all instances of MotionProfileState with MotionProfilePiece
• add History trait, which is like a Stream but you specify a time when you get
• reorganize streams into modules
• remove unnecessary std requirement for a couple types