Crate can_motor_control 

Cross-platform robot control for CAN motors using the target’s native hardware transport.

This crate is intentionally vendor-agnostic above the codec seam: it depends only on the [motor_codec] trait crate, never on a specific vendor codec.

Re-exports

pub use bus::Bus;

pub use bus::RouteKey;

pub use config::CodecFactory;

pub use config::CodecRegistry;

pub use config::MotorTypeParser;

pub use error::Error;

pub use group::Arm;

pub use group::Generic;

pub use group::Gripper;

pub use group::GroupKind;

pub use group::MitCmd;

pub use group::MotorGroup;

pub use group::PosForceCmd;

pub use group::PosVelCmd;

pub use group::VelCmd;

pub use motor::FaultCode;

pub use motor::Motor;

pub use robot::Robot;

pub use robot::RobotBuilder;

pub use spec::GripperOpeningSpec;

pub use spec::GroupSpecKind;

pub use spec::MotorSpec;

pub use spec::OpeningDirection;

pub use transport::SocketCanBus;

pub use transport::BusPoller;

pub use transport::CanBus;

pub use transport::MockCanBus;

pub use transport::MockRecordedCall;

pub use transport::TransportError;

Modules

bus

Bus = transport + codec + per-bus recv-id routing table.

config

TOML config schema, loader, and vendor codec registry.

error

Layered error type for the can-motor-control crate.

group

Group types: MotorGroup base + Arm, Gripper, Generic newtypes and the GroupKind dispatcher.

motor

Per-motor identity and state cache.

robot

Robot and RobotBuilder.

spec

Builder input types.

transport

CAN transport abstraction.

Structs

BusCapabilities

Runtime feature set of a CAN transport.

CanFrame

Unified CAN frame: covers both classical CAN (8-byte payload) and CAN-FD (up to 64-byte payload).

FrameFlags

Metadata bits attached to every CanFrame.

Limits

Per-motor-type physical limits used to scale MIT commands and unscale state replies.

MotorRef

Borrowed view of a motor’s identity, suitable for passing into codec encode methods without taking ownership of the motor’s mutable state.

Enums

CodecError

Errors returned by MotorCodec implementations.

Command

A control command directed at a single motor.

CommandKind

Tagged discriminant of Command, suitable for error-reporting “this codec does not support mode X”.

Event

A decoded inbound message from a motor.

FrameError

Errors that can arise constructing a CanFrame.

MotorTypeId

Vendor-tagged motor type identifier.

ParamValue

Union of value encodings used by vendor parameter sub-protocols.

Traits

MotorCodec

The vendor-agnostic codec contract.