# Load CAN modules
sudo modprobe can
sudo modprobe can_raw
sudo modprobe can_dev

# Configure interface
sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 up

# Verify
ip link show can0

# Add user to dialout group
sudo usermod -a -G dialout $USER

# Log out and back in for changes to take effect

# Or temporary access
sudo chmod 666 /dev/ttyACM0

# Implement retry loop
import time

def get_state_with_retry(motor, max_attempts=10):
    for _ in range(max_attempts):
        motor.request_feedback()
        state = motor.get_state()
        if state is not None:
            return state
        time.sleep(0.05)
    return None

state = get_state_with_retry(motor)
if state:
    print(f"Position: {state.pos}")
else:
    print("No feedback after retries")

# 1. Motor enabled?
ctrl.enable_all()

# 2. Correct mode?
motor.ensure_mode(Mode.MIT, 1000)

# 3. Commands being sent?
motor.send_mit(0.5, 0.0, 30.0, 1.0, 0.0)

# 4. Check status
motor.request_feedback()
state = motor.get_state()
if state:
    print(f"Status: 0x{state.status_code:02X}")
    print(f"Position: {state.pos:.3f}")

def handle_motor_error(motor, status_code):
    """Handle motor error based on status code."""
    if status_code == 0:
        return True  # OK

    print(f"Motor error: 0x{status_code:02X}")

    if status_code in (1, 2):  # Voltage errors
        print("Check power supply voltage")
        return False

    if status_code in (3, 4, 5):  # Current/temperature
        print("Reduce load and wait for cooling")
        motor.disable()
        return False

    if status_code == 6:  # Timeout
        print("Check CAN wiring")
        motor.clear_error()
        motor.enable()
        return True

    return False

# Reinstall package
pip install --upgrade --force-reinstall motorbridge

# Verify installation
python3 -c "import motorbridge; print('OK')"

# Check ABI library (for source builds)
ls -la /path/to/motorbridge/lib/libmotor_abi.so
export LD_LIBRARY_PATH=/path/to/lib:$LD_LIBRARY_PATH

# Find library
find /usr -name "libmotor_abi.so" 2>/dev/null

# Set library path
export LD_LIBRARY_PATH=/path/to/lib:$LD_LIBRARY_PATH

# Or install from wheel (includes library)
pip install motorbridge

import time

DT_S = 0.02
next_time = time.time()

for i in range(100):
    # Work
    motor.send_mit(...)
    motor.request_feedback()

    # Sleep until next period
    next_time += DT_S
    sleep_time = next_time - time.time()
    if sleep_time > 0:
        time.sleep(sleep_time)
    else:
        print(f"Overrun: {-sleep_time*1000:.1f}ms")
        next_time = time.time()  # Reset timing

import logging

# Enable debug logging
logging.basicConfig(level=logging.DEBUG)

# Monitor CAN bus
candump can0

# Send test frame
cansend can0 001#0102030405060708

# Scan for motors
motorbridge-cli scan --vendor all --channel can0

# Test single motor
motorbridge-cli run --vendor damiao --motor-id 0x01 --mode enable --loop 1

# Dump registers
motorbridge-cli id-dump --motor-id 0x01 --rids 7,8,9,10

# Minimal test case
from motorbridge import Controller

with Controller("can0") as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")

    # Test enable
    try:
        motor.enable()
        print("Enable: OK")
    except Exception as e:
        print(f"Enable: FAILED - {e}")

    # Test feedback
    motor.request_feedback()
    state = motor.get_state()
    print(f"Feedback: {'OK' if state else 'FAILED'}")

    # Test command
    try:
        motor.send_mit(0.0, 0.0, 10.0, 1.0, 0.0)
        print("Command: OK")
    except Exception as e:
        print(f"Command: FAILED - {e}")