controls

This repository holds shared code and analysis docs for the A-Team motion control stack.

The shared code is written primarily in Rust with C interface bindings.

Contents

• analysis
  • Docs and scripts used to design and understand our motion controls
• ateam_controls
  • The primary Rust crate for shared code
• ateam_controls_c
  • Crate for building C-compatible library and headers
• cpp_tests
  • Tests for the C-compatible bindings

Dependencies

For Rust users

• nix

For C++ users

• Rust
  • curl --proto '=https' --tlsv1.2 -sSf https://sh.rustup.rs | sh
• CMake
  • apt install cmake

Building and Testing

Rust

nix develop
cargo build --workspace
cargo test --workspace

C++

cmake -B build .
cmake --build build
cd build
ctest