can_motor_control/
lib.rs

1//! Cross-platform robot control for CAN motors using the target's native
2//! hardware transport.
3//!
4//! This crate is intentionally vendor-agnostic above the codec seam: it depends
5//! only on the [`motor_codec`] trait crate, never on a specific vendor codec.
6
7// Some crate-private items (Bus::routes, Motor::new, MotorGroup::attach_bus, ...)
8// are wired up by the RobotBuilder and tick loop landing in subsequent task
9// groups. Allow `dead_code` here until those callers land.
10#![allow(dead_code)]
11
12pub mod bus;
13pub mod config;
14pub mod error;
15pub mod group;
16pub mod motor;
17pub mod robot;
18pub mod spec;
19pub mod transport;
20
21pub use bus::{Bus, RouteKey};
22pub use config::{CodecFactory, CodecRegistry, MotorTypeParser};
23pub use error::Error;
24pub use group::{
25    Arm, Generic, Gripper, GroupKind, MitCmd, MotorGroup, PosForceCmd, PosVelCmd, VelCmd,
26};
27pub use motor::{FaultCode, Motor};
28pub use robot::{Robot, RobotBuilder};
29pub use spec::{GripperOpeningSpec, GroupSpecKind, MotorSpec, OpeningDirection};
30#[cfg(target_os = "linux")]
31pub use transport::SocketCanBus;
32pub use transport::{BusPoller, CanBus, MockCanBus, MockRecordedCall, TransportError};
33#[cfg(target_os = "macos")]
34pub use transport::{GsUsbBus, GsUsbConfig, GsUsbStatistics};
35
36// Re-export can-motor-codec public types so users have a single import surface.
37pub use motor_codec::{
38    BusCapabilities, CanFrame, CodecError, Command, CommandKind, Event, FrameError, FrameFlags,
39    Limits, MotorCodec, MotorRef, MotorTypeId, ParamValue,
40};
can_motor_control/lib.rs

can_motor_control/
lib.rs
