README.md

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

Features

• Node-like stream system for data processing
  • Basic arithmetic + integral and derivative
  • PID
  • Moving average
  • EWMA
• Simple device control system
• Trapezoidal motion profile following

RRTK Stream Builder now available: Code generation from visual nodes for the stream system.

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

0.3.0-alpha.5

• Move from Stream and the previous device system to Getter and Settable. Getter is like a stream or encoder and Settable is like a writable device.
• Add Device type which makes raw Getters and Settables work together better as mechanical devices in a system. This should represent a physical device.
• Add Axle type which contains multiple Device objects. It uses the capabilities of each device to control the real-life system. Eg. Data is gathered from Getter devices (Device::Read for encoders and Device::ReadWrite for servos) and used to control motors that do not contain their own control theory processing (Device::ImpreciseWrite), but motors that can do this on their own (Device::ReadWrite and Device::PreciseWrite depending on whether the internal data can be read) do not need this control. This object should represent a physical linkage between devices.
• Don't require a feature to be enabled for PID controller types
• Change API for PID controller types to be constructed with a k-values type rather than three individual f32s.

0.3.0-beta.1

• Don't require a feature to be enabled for motion profiles.
• Make Settable able to follow Getters of the same type.
• Add GetterFromHistory struct allowing History objects to be used as Getters.

0.3.0

• Add set_delta and set_time methods to GetterFromHistory.
• Move streams::Constant to ConstantGetter.
• Implement Settable for ConstantGetter.
• Add get_last_request method to Settable.
• Move MotionProfile get_* methods to Option instead of Result.
• Rename UpdateOutput to NothingOrError.
• Fix Axle bug where it would try to use nonexistent PID controllers for Device::ImpreciseWrite objects if it had not yet received a Command.
• Instead of directly implementing set in Settable, you now implement direct_set. You should still call just set though. This is a workaround required to make SettableData and get_last_request work correctly.
• Move MotionProfile to History<Command, E> instead of History<State, E>.
• Move timestamps to i64 instread of f32. The recommended unit is nanoseconds. This is not u64 due to the use of deltas.
• Fix MovingAverageStream panicing issue.
• Rename StreamPID to PIDControllerStream.
• Improve performance of PIDControllerStream.
• Mark Error enum as non-exhaustive.
• Write three example files.
• Derive additional traits for a few structs.
• Give MotionProfile a return value after it has completed. This is based on the end state provided to the constructor. It will choose the lowest possible position derivative to satisfy the end state. This means that if acceleration is 0, the position derivative in the command will be velocity, otherwise acceleration. If velocity is also 0, it will be position, otherwise just velocity.
• Add get_(position|velocity|acceleration) methods to Command.
• Add Latest stream allowing you to choose the output of whichever of a set of streams has the later timestamp.
• Implement From<State> for Command.
• Rename TimeGetterFromStream to TimeGetterFromGetter.

0.3.1

• Implement several core::ops traits and Copy for State
• Fix name of PositionToState
• Slightly improve performance of MotionProfile and (Position|Velocity|Acceleration)ToState by removing unnecessary code
• Improve tests
• Minor documentation fixes
• Add missing LGPL license notice to a few files

0.4.0-alpha.1

• Begin new device system.

0.4.0-alpha.2

• Make everything use &RefCell<Terminal> rather than Rc<RefCell<Terminal>>
• Make math streams use generics.
• Add SettableCommandDeviceWrapper and GetterStateDeviceWrapper allowing types only implementing Settable<Command, _> to be used as motors and types only implementing Getter<State, _> to be used as encoders.
• Revive PositionDerivativeDependentPIDKValues, now with a get_k_values method for getting the k-values for a specific position derivative.
• Add evaluate methods for PIDKValues and PositionDerivativeDependentPIDKValues.
• Add CommandPID, an easier and faster way to use PID control to turn a standard DC motor and an encoder into a de facto servo.
• Add latest function which gets the newer of two Datum objects.

0.4.0-alpha.3

• Add new streams submodules flow and logic.
• Add new streams
  • Expirer
  • flow::IfStream
  • flow::IfElseStream
  • flow::FreezeStream
  • logic::AndStream
  • logic::OrStream
  • logic::NotStream
• Pass through Not for Datum<T> where T implements Not.
• Add NoneGetter.
• Add Axle very similar to 0.4.0-alpha.1 one.
• Move (SettableCommand|GetterState)DeviceWrapper to devices::wrappers module.
• Add experimental Device implementor for a differential mechanism.
• Remove now-unused GetterSettable marker trait.
• Move new device system to a new devices feature.
• Minor documentation fix for devices module.

0.4.0-beta.1

• Make differential calculations able to trust all branches equally instead of ignoring one.
• Remove unnecessary Boxing from InputGetter and InputTimeGetter.

0.4.0-beta.2

• Rename following_update to update_following_data and remove update calls from it.
• Make GetterFromHistory use &mut dyn History instead of Box<dyn History> and make its constructors take impl History instead of dyn History.
• Remove now-unnecessary new_for_motion_profile constructor for GetterFromHistory.
• Remove Clone bound on History<T, _>'s T.
• Make GetterFromHistory return the requested timestamp as its Datum timestamp rather than that that the internal History returns.
• Make make_input_getter and make_input_time_getter functions instead of macros.
• Add NoneGetter constructor. (It is a unit struct, so this is redundant.);
• Add a disconnect method to Terminal.
• Add methods to builtin devices for getting references to their terminals.
• Slightly improve performance of Terminal's get implementation by using an array of MaybeUninit rather than Vec.
• Minor documentation fixes.

0.4.0

• Fix Invert get_terminal_2 which was returning terminal 1.
• Make terminals pass commands to their connected counterparts.
• Rename SettableCommandDeviceWrapper to ActuatorWrapper.
• Make ActuatorWrapper update its inner Settable.
• Make ActuatorWrapper call update_terminals in its Updatable implementation.
• Fix CommandPID error integral doubling bug.
• Add TerminalData type containing a timestamp, an optional command, and an optional state.
• Implement Getter<TerminalData, _> for Terminal.
• Add PIDWrapper, a wrapper very similar to ActuatorWrapper that uses a CommandPID to control a DC motor rather than needing a servo or a control system set up by the user.
• Implement TimeGetter for i64. It will always return its value as a time.
• Remove unused CannotConnectTerminals error variant.
• Make GetterStateDeviceWrapper update its inner Getter.
• Keep CommandPID from resetting itself whenever it gets a new command rather than only when the command is different.
• Mark constructors for State, Datum, PIDKValues, PositionDerivativeDependentPIDKValues, and Command as const.
• Documentation improvements.