RRTK: Rust Robotics ToolKit

A data flow-based robotics framework designed for embedded systems.

RRTK works almost entirely without std and alloc. It is not specific to any device or API.

License: BSD 3-Clause

RRTK is free and open source software licensed under the permissive BSD 3-Clause "New" or "Revised" License. See the LICENSE file in the repository for more information.

Feature overview

• Architecture based on Getter, Settable, and Updatable traits
  • For getting or setting multiple things, Getter and Settable can be implemented multiple times using the newtype pattern.
  • All data returned by Getter are timestamped.
    • A TimeGetter trait is included for clocks used for timestamping data.
  • Getter, Settable, and TimeGetter require Updatable.
• Stream system for data processing (see below for more information)
  • Basic arithmetic including exponentiation
  • Numerical trapezoidal integration and differentiation
  • Logic and control flow management
  • PID control
  • Moving average
  • Exponentially weighted moving average (EWMA)
• Graph-based device control system (see below for more information)
  • Differential, gear train, and clutch
  • Wrappers for implementors of Getter and Settable, including streams
• Trapezoidal motion profile following
• No dependencies by default, but support for libm and micromath available
  • No features of libm or micromath enabled
  • Compatible with almost any versions of libm and micromath
• Compile-time dimensional analysis system

Stream system

Special Getter implementors called streams can be created that hold other Getters as input and, in their own Getter implementation, return values calculated from what is returned by those input Getters. They take input from Getters, process it, and return it from their own Getter implementations. Streams can be chained for more complex operations. Streams always update their inputs in their own Updatable implementations. RRTK includes many common and useful streams, and it is very easy to implement your own through the Getter trait. The stream system is designed to be a simple, efficient way of managing real-time data processing.

See the documentation for the streams module and the "pid" example for more information.

Device system

The device system is a way of managing the rotational states of various components in your robot. It is based on a graph structure. Each mechanical device implements DeviceUpdatable and is allowed to write to a certain reserved set of nodes that no other device may write to. The actual information stored in each node is held not by the device but in a special System struct. System manages the states of nodes and how the nodes are connected. This allows different robot components to communicate easily and efficiently. For example, a motor may adjust its voltage based on the velocity reported by a rotary encoder. RRTK includes device implementations for a few simple mechanical components as well as wrappers for using implementors of Getter and Settable, including streams, with the device system.

See the documentation for the devices module and the "devices" example for more information. Note that the device system is only available with the devices feature enabled.

Related Crates

Currently, neither of these works very well with the 0.7.* release series. They will be updated eventually, but improving RRTK itself is being prioritized more right now.

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

RRTK Procedural Macros: Procedural math! macro making the stream system easier to use.

The changelog has been moved to CHANGELOG.md.