Connecting your brick
Every program starts by opening a Brick. How you
open it depends on the cable, or lack of one.
| Link | Code | Feature |
|---|---|---|
| USB, first brick found | Brick::usb_first().await? | usb (default) |
| USB, every brick | Brick::usb_all().await? | usb (default) |
| Bluetooth (Linux) | Brick::bluetooth(address).await? | bluetooth |
| Bluetooth serial port (any OS) | Brick::serial("/dev/rfcomm0").await? | serial |
| Whatever is available | nxt_rs::connect_any().await? | — |
| Simulated brick | Brick::mock() | — |
use nxt_rs::prelude::*;
fn main() -> nxt_rs::Result<()> {
let brick = Brick::usb_first().block()?;
let info = brick.info().block()?;
println!("name: {}", info.name);
println!("bluetooth: {}", info.bluetooth_address);
println!("battery: {}", brick.battery().block()?);
println!("firmware: {}", brick.firmware_version().block()?.firmware);
Ok(()) }USB is the fastest and simplest option. A command round trip takes a few milliseconds over USB and about 60 ms over Bluetooth. Use Bluetooth when the robot has to move around freely.
The Connecting chapters cover each link in detail, including Bluetooth pairing.
One connection, many handles
Brick is cheap to clone. All clones share the same connection, so you can
hand them to different tasks or threads. Requests from different clones never
mix up their replies.
nxt_rs::doc_example(|brick| async move {
let for_logging = brick.clone();
assert!(brick.same_brick(&for_logging));
Ok(()) });Next: Your first program.