API: motorbridge-cli

Installation

The CLI is installed automatically with the Python package:

pip install motorbridge
motorbridge-cli --help

Global Options

motorbridge-cli [OPTIONS] COMMAND [ARGS]

Option	Description
`--help`	Show help message and exit
`--version`	Show version and exit

Commands Overview

Command	Description
`run`	Send control commands to a motor
`scan`	Scan CAN bus for active motors
`id-dump`	Read Damiao ID/mode registers
`id-set`	Write Damiao ID registers
`robstride-read-param`	Read RobStride parameter
`robstride-write-param`	Write RobStride parameter

run

Run motor control commands in a loop.

Usage

motorbridge-cli run [OPTIONS]

Options

Option	Default	Description
`--vendor`	`damiao`	Motor vendor: damiao, myactuator, robstride, hightorque, hexfellow
`--channel`	`can0`	CAN interface name
`--transport`	`auto`	Transport: auto, socketcan, socketcanfd, dm-serial
`--serial-port`	`/dev/ttyACM0`	Serial port (for dm-serial transport)
`--serial-baud`	`921600`	Serial baud rate
`--model`	`4340`	Motor model string
`--motor-id`	`0x01`	Motor CAN ID (hex supported)
`--feedback-id`	`0x11`	Feedback CAN ID (hex supported)
`--mode`	`mit`	Control mode: enable, disable, mit, pos-vel, vel, force-pos, ping
`--loop`	`100`	Number of control iterations
`--dt-ms`	`20`	Control period in milliseconds
`--ensure-mode`	`1`	Whether to ensure mode before control
`--ensure-strict`	`0`	Fail if mode switch fails
`--ensure-timeout-ms`	`1000`	Mode switch timeout
`--print-state`	`1`	Print state each iteration
`--pos`	`0.0`	Target position (rad)
`--vel`	`0.0`	Target velocity (rad/s)
`--kp`	`30.0`	Position stiffness (MIT mode)
`--kd`	`1.0`	Velocity damping (MIT mode)
`--tau`	`0.0`	Feedforward torque (Nm)
`--vlim`	`1.0`	Velocity limit (rad/s)
`--ratio`	`0.3`	Force ratio (force-pos mode)

Examples

Enable Motor Only

motorbridge-cli run --vendor damiao --channel can0 --motor-id 0x01 --mode enable --loop 1

Disable Motor

motorbridge-cli run --vendor damiao --channel can0 --motor-id 0x01 --mode disable --loop 1

MIT Mode Control

motorbridge-cli run \
    --vendor damiao \
    --channel can0 \
    --model 4340P \
    --motor-id 0x01 \
    --feedback-id 0x11 \
    --mode mit \
    --loop 100 \
    --dt-ms 20 \
    --pos 1.0 \
    --kp 30.0 \
    --kd 1.0

Position-Velocity Mode

motorbridge-cli run \
    --vendor damiao \
    --channel can0 \
    --model 4340P \
    --motor-id 0x01 \
    --feedback-id 0x11 \
    --mode pos-vel \
    --loop 200 \
    --pos 2.0 \
    --vlim 1.5

RobStride Motor

motorbridge-cli run \
    --vendor robstride \
    --channel can0 \
    --model rs-00 \
    --motor-id 127 \
    --feedback-id 0xFE \
    --mode mit \
    --loop 100 \
    --pos 0.5 \
    --kp 2.0 \
    --kd 0.1

Using Serial Transport

motorbridge-cli run \
    --vendor damiao \
    --transport dm-serial \
    --serial-port /dev/ttyACM0 \
    --serial-baud 921600 \
    --model 4340P \
    --motor-id 0x01 \
    --feedback-id 0x11 \
    --mode mit \
    --loop 50

scan

Scan CAN bus for active motors.

Usage

motorbridge-cli scan [OPTIONS]

Options

Option	Default	Description
`--vendor`	`damiao`	Vendor to scan: damiao, myactuator, robstride, hightorque, hexfellow, all
`--channel`	`can0`	CAN interface
`--transport`	`auto`	Transport type
`--serial-port`	`/dev/ttyACM0`	Serial port
`--serial-baud`	`921600`	Serial baud rate
`--model`	`4340`	Motor model
`--start-id`	`0x01`	Start ID for scan
`--end-id`	`0x10`	End ID for scan
`--feedback-ids`	`0xFF,0xFE,0x00,0xAA`	RobStride feedback IDs to try
`--feedback-base`	`0x10`	Damiao feedback ID base
`--timeout-ms`	`80`	Per-ID timeout
`--param-id`	`0x7019`	RobStride parameter ID for probe
`--param-timeout-ms`	`120`	RobStride parameter timeout

Examples

Scan All Vendors

motorbridge-cli scan --vendor all --channel can0 --start-id 1 --end-id 255

Scan Damiao Only

motorbridge-cli scan --vendor damiao --channel can0 --start-id 0x01 --end-id 0x20

Scan RobStride

motorbridge-cli scan --vendor robstride --channel can0 --start-id 1 --end-id 127

Scan MyActuator

motorbridge-cli scan --vendor myactuator --channel can0 --start-id 1 --end-id 32

Scan via Serial

motorbridge-cli scan \
    --vendor damiao \
    --transport dm-serial \
    --serial-port /dev/ttyACM0 \
    --start-id 1 \
    --end-id 32

Output Format

command=scan vendor=damiao transport=auto channel=can0 model=4340 id_range=[0x1,0x20] timeout_ms=80
[scan:damiao] channel=can0 model=4340 id_range=[0x1,0x20] timeout_ms=80
[hit] vendor=damiao probe=0x01 esc_id=0x1 mst_id=0x11
[hit] vendor=damiao probe=0x02 esc_id=0x2 mst_id=0x12
[.. ] vendor=damiao probe=0x03 no reply
scan done: 2 motor(s) found
  probe=0x01 vendor=damiao esc_id=0x1 mst_id=0x11
  probe=0x02 vendor=damiao esc_id=0x2 mst_id=0x12

id-dump

Read key ID and configuration registers from Damiao motors.

Usage

motorbridge-cli id-dump [OPTIONS]

Options

Option	Default	Description
`--vendor`	`damiao`	Must be damiao
`--channel`	`can0`	CAN interface
`--transport`	`auto`	Transport type
`--model`	`4340`	Motor model
`--motor-id`	`0x01`	Motor ID
`--feedback-id`	`0x11`	Feedback ID
`--timeout-ms`	`500`	Register read timeout
`--rids`	`7,8,9,10,21,22,23`	Register IDs to read

Register IDs

RID	Name	Description
7	MST_ID	Feedback ID
8	ESC_ID	Motor ID
9	TIMEOUT	Communication timeout
10	CTRL_MODE	Control mode
21	PMAX	Position mapping range
22	VMAX	Velocity mapping range
23	TMAX	Torque mapping range

Example

motorbridge-cli id-dump \
    --vendor damiao \
    --channel can0 \
    --motor-id 0x01 \
    --feedback-id 0x11 \
    --rids 7,8,9,10,21,22,23

Output

command=id-dump transport=auto channel=can0 model=4340 motor_id=0x1 feedback_id=0x11
rid=  7 (u32) = 17 (0x11)
rid=  8 (u32) = 1 (0x1)
rid=  9 (u32) = 5000 (0x1388)
rid= 10 (u32) = 1 (0x1)
rid= 21 (f32) = 12.566371
rid= 22 (f32) = 30.000000
rid= 23 (f32) = 10.000000

id-set

Write ID registers to Damiao motors and optionally store to flash.

Usage

motorbridge-cli id-set [OPTIONS]

Options

Option	Default	Description
`--vendor`	`damiao`	Must be damiao
`--channel`	`can0`	CAN interface
`--transport`	`auto`	Transport type
`--model`	`4340`	Motor model
`--motor-id`	`0x01`	Current motor ID
`--feedback-id`	`0x11`	Current feedback ID
`--new-motor-id`	(same)	New motor ID to set
`--new-feedback-id`	(same)	New feedback ID to set
`--store`	`1`	Store to flash after write
`--verify`	`1`	Verify after write
`--timeout-ms`	`800`	Verify timeout

Example

# Change motor ID from 0x01 to 0x05
motorbridge-cli id-set \
    --vendor damiao \
    --channel can0 \
    --motor-id 0x01 \
    --feedback-id 0x11 \
    --new-motor-id 0x05 \
    --new-feedback-id 0x15 \
    --store 1 \
    --verify 1

Output

command=id-set transport=auto channel=can0 model=4340 old_motor_id=0x1 old_feedback_id=0x11 new_motor_id=0x5 new_feedback_id=0x15
write rid=7 (MST_ID) <= 0x15
write rid=8 (ESC_ID) <= 0x5
store_parameters sent
verify rid=8 (ESC_ID): 0x5
verify rid=7 (MST_ID): 0x15
verify ok

robstride-read-param

Read a parameter from RobStride motor.

Usage

motorbridge-cli robstride-read-param [OPTIONS]

Options

Option	Default	Description
`--channel`	`can0`	CAN interface
`--model`	`rs-00`	Motor model
`--motor-id`	`127`	Motor ID
`--param-id`	(required)	Parameter ID to read
`--type`	(required)	Data type: i8, u8, u16, u32, f32
`--timeout-ms`	`500`	Read timeout

Example

motorbridge-cli robstride-read-param \
    --channel can0 \
    --motor-id 127 \
    --param-id 0x7019 \
    --type f32

Output

command=robstride-read-param channel=can0 model=rs-00 motor_id=0x7F param_id=0x7019 type=f32 value=1.5

robstride-write-param

Write a parameter to RobStride motor.

Usage

motorbridge-cli robstride-write-param [OPTIONS]

Options

Option	Default	Description
`--channel`	`can0`	CAN interface
`--model`	`rs-00`	Motor model
`--motor-id`	`127`	Motor ID
`--param-id`	(required)	Parameter ID to write
`--type`	(required)	Data type: i8, u8, u16, u32, f32
`--value`	(required)	Value to write
`--verify`	`1`	Read back and verify
`--timeout-ms`	`500`	Verify timeout

Example

motorbridge-cli robstride-write-param \
    --channel can0 \
    --motor-id 127 \
    --param-id 0x7019 \
    --type f32 \
    --value 2.0 \
    --verify 1

Output

command=robstride-write-param channel=can0 model=rs-00 motor_id=0x7F param_id=0x7019 type=f32 value=2.0 verify=2.0

Common Workflows

Initial Setup

# 1. Scan for motors
motorbridge-cli scan --vendor all --channel can0 --start-id 1 --end-id 255

# 2. Read motor configuration
motorbridge-cli id-dump --vendor damiao --motor-id 0x01 --feedback-id 0x11

# 3. Test motor control
motorbridge-cli run --vendor damiao --motor-id 0x01 --mode enable --loop 1
motorbridge-cli run --vendor damiao --motor-id 0x01 --mode mit --loop 50 --pos 0.5

Changing Motor ID

# 1. Verify current ID works
motorbridge-cli id-dump --motor-id 0x01 --feedback-id 0x11

# 2. Set new ID
motorbridge-cli id-set \
    --motor-id 0x01 \
    --feedback-id 0x11 \
    --new-motor-id 0x05 \
    --new-feedback-id 0x15 \
    --store 1 \
    --verify 1

# 3. Verify with new ID
motorbridge-cli id-dump --motor-id 0x05 --feedback-id 0x15

RobStride Parameter Tuning

# Read current parameter
motorbridge-cli robstride-read-param --motor-id 127 --param-id 0x7019 --type f32

# Write new value
motorbridge-cli robstride-write-param --motor-id 127 --param-id 0x7019 --type f32 --value 2.5

# Verify
motorbridge-cli robstride-read-param --motor-id 127 --param-id 0x7019 --type f32

Exit Codes

Code	Meaning
0	Success
1	General error
2	Invalid arguments

Get Started

Tutorials

API Reference

Best Practices

Reference

​API: motorbridge-cli

​Installation

​Global Options

​Commands Overview

​run

​Usage

​Options

​Examples

​Enable Motor Only

​Disable Motor

​MIT Mode Control

​Position-Velocity Mode

​RobStride Motor

​Using Serial Transport

​scan

​Usage

​Options

​Examples

​Scan All Vendors

​Scan Damiao Only

​Scan RobStride

​Scan MyActuator

​Scan via Serial

​Output Format

​id-dump

​Usage

​Options

​Register IDs

​Example

​Output

​id-set

​Usage

​Options

​Example

​Output

​robstride-read-param

​Usage

​Options

​Example

​Output

​robstride-write-param

​Usage

​Options

​Example

​Output

​Common Workflows

​Initial Setup

​Changing Motor ID

​RobStride Parameter Tuning

​Exit Codes

​See Also

API: motorbridge-cli

Installation

Global Options

Commands Overview

run

Usage

Options

Examples

Enable Motor Only

Disable Motor

MIT Mode Control

Position-Velocity Mode

RobStride Motor

Using Serial Transport

scan

Usage

Options

Examples

Scan All Vendors

Scan Damiao Only

Scan RobStride

Scan MyActuator

Scan via Serial

Output Format

id-dump

Usage

Options

Register IDs

Example

Output

id-set

Usage

Options

Example

Output

robstride-read-param

Usage

Options

Example

Output

robstride-write-param

Usage

Options

Example

Output

Common Workflows

Initial Setup

Changing Motor ID

RobStride Parameter Tuning

Exit Codes

See Also