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New Robstride Package #56

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Dec 16, 2024
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4 changes: 2 additions & 2 deletions .github/workflows/publish.yml
Original file line number Diff line number Diff line change
Expand Up @@ -17,9 +17,9 @@ jobs:
build-wheels:
strategy:
matrix:
os: [ubuntu-latest, macos-latest]
os: [ubuntu-latest]
name: Build and publish Python package (${{ matrix.os }})
timeout-minutes: 30
timeout-minutes: 180
runs-on: ${{ matrix.os }}

steps:
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2 changes: 1 addition & 1 deletion Cargo.toml
Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@ resolver = "2"

[workspace.package]

version = "0.2.10"
version = "0.3.0"
authors = ["Wesley Maa <wesley@kscale.dev>", "Pawel Budzianowski <pawel@kscale.dev>", "Benjamin Bolte <ben@kscale.dev>"]
edition = "2021"
description = "Actuator package"
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10 changes: 10 additions & 0 deletions README.md
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Expand Up @@ -2,8 +2,18 @@

Defines a package to make it easy and performant to control actuators.

> [!WARNING]
> The Python bindings for this package are currently in an experimental state and may be unstable or subject to breaking changes.

![System Architecture](./docs/architecture.png)

## Getting Started

See the documentation [here](https://docs.kscale.dev/software/actuators/overview) for instructions on getting started with this package.

## Build Requirements

### Linux
This package requires Linux for building due to dependencies on Linux-specific CAN bus libraries.

If you're developing on other platforms, consider using a Linux virtual machine or container for building.
8 changes: 2 additions & 6 deletions actuator/__init__.py
Original file line number Diff line number Diff line change
@@ -1,12 +1,8 @@
"""Defines the top-level API for the actuator package."""

from .bindings import (
PyRobstrideMotorConfig as RobstrideMotorConfig,
PyRobstrideMotorControlParams as RobstrideMotorControlParams,
PyRobstrideMotorFeedback as RobstrideMotorFeedback,
PyRobstrideMotors as RobstrideMotors,
PyRobstrideMotorsSupervisor as RobstrideMotorsSupervisor,
PyRobstrideMotorType as RobstrideMotorType,
PyRobstrideActuator as RobstrideActuator,
PyRobstrideActuatorConfig as RobstrideActuatorConfig,
get_version,
)

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6 changes: 3 additions & 3 deletions actuator/bindings/Cargo.toml
Original file line number Diff line number Diff line change
Expand Up @@ -15,9 +15,9 @@ name = "bindings"
crate-type = ["cdylib", "rlib"]

[dependencies]

pyo3 = { version = ">= 0.21.0", features = ["extension-module"] }
pyo3-stub-gen = ">= 0.6.0"

# Other packages in the workspace.
robstride = { path = "../robstride" }
tokio = { version = "1.0", features = ["full"] }
eyre = "0.6"
tracing = "0.1"
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