EV3-DC

[WIP] Low-level EV3 direct command library. Designed to be able to use safely

Features

• Allocate global and local memory
• Packet generation from bytecodes
• Direct reply basic parser
• Utility library for Run-Length-Encoding, packets merging, bytecode builder More documentation is available in docs

cargo doc

Bytecode documentation

LEGO Mindstorms EV3 Firmware Developer Kit [Link]

Example

This example turn on motor on port A & B with 50% power clockwise

use ev3_dc::{ Command, encode, Encoding, PORT };
use ev3_dc::utils::ChainByte;
use ev3_dc::parser::Reply;

// Create new packet. Packet can contains many OpCodes
let mut cmd = Command::new();
// Chainable vector operations
let mut byte = ChainByte::new();
byte.push(0xA4) // opOutput_Power
    .add(encode(LC0(0)).unwrap()) // Layer
    .add(encode(LC0(PORT.A + PORT.B)).unwrap()) // Port
    .add(encode(LC1(50)).unwrap()) // Power
    .push(0xA6) // opOutput_Power
    .add(encode(LC0(0)).unwrap()) // Layer
    .add(encode(LC0(PORT.A + PORT.B)).unwrap()); // Port
let mut buf = [0_u8; 5 + cmd.reserved_bytes()]; // Create reply buffer (SIZE SHOULD BE ATLEAST 5 + reserved_bytes)
println!("SENT: {:?}", cmd.gen_bytes()); // Generate direct command packet
not_real_function::read(&mut buf);
let rep = Reply::parse(&buf); // Parse direct reply
println!("RECV: {:?} | SIZE: {}, ID: {}, ERROR: {}, MEMORY: {}", buf, rep.length(), rep.id(), rep.error(), rep.memory());

Binary

All the example program is written for USB communication. Add hidapi to cargo

cargo add hidapi

• examples/image.rs Display 178x128 PBM image on EV3 screen

  cargo run --example image example.pbm

• examples/info.rs Show information about PBrick (w/ code comments)

  cargo run --example info