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Documentation Index

Fetch the complete documentation index at: https://motorbridge.seeedstudio.com/llms.txt

Use this file to discover all available pages before exploring further.

Source: bindings/cpp/examples/README.md

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C++ Example Programs

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Channel Compatibility (PCAN + slcan + CAN-FD + Damiao Serial Bridge)

  • Linux SocketCAN uses interface names directly: can0, can1, slcan0.
  • For USB-serial CAN adapters, bring up slcan0 first: sudo slcand -o -c -s8 /dev/ttyUSB0 slcan0 && sudo ip link set slcan0 up.
  • Hexfellow examples require CAN-FD path (Controller::from_socketcanfd(...) / CLI --transport socketcanfd).
  • Damiao-only serial bridge transport is also available in CLI (--transport dm-serial --serial-port /dev/ttyACM0 --serial-baud 921600).
  • Full Damiao serial-bridge interface list and command patterns are documented in motor_cli/README.md (section 3.6 in motor_cli/README.zh-CN.md).
  • On Linux SocketCAN, do not append bitrate in --channel (for example can0@1000000 is invalid).
  • On Windows (PCAN backend), can0/can1 map to PCAN_USBBUS1/2; optional @bitrate suffix is supported.

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Damiao Set-Zero Sequence Note

  • Recommended order: disable -> set_zero_position -> enable -> ensure_mode -> control.
  • set_zero_position is guarded in core and requires disabled state.
Build from repo root: 
cargo build -p motor_abi --release
cmake -S bindings/cpp -B bindings/cpp/build \
  -DMOTORBRIDGE_ABI_LIBRARY=$PWD/target/release/libmotor_abi.so
cmake --build bindings/cpp/build -j
Files:
  • cpp_wrapper_demo.cpp: Damiao MIT loop
  • robstride_wrapper_demo.cpp: RobStride ping / read-param / mit / vel demo
  • hexfellow_canfd_demo.cpp: Hexfellow CAN-FD demo (mit / pos-vel only)
  • full_modes_demo.cpp: Damiao full-mode control
  • pid_register_tune_demo.cpp: Damiao tuning
  • scan_ids_demo.cpp: Damiao scan (legacy helper)
  • pos_ctrl_demo.cpp: Damiao position target
  • pos_repl_demo.cpp: Damiao interactive position console
Unified scan via Rust CLI: 
cargo run -p motor_cli --release -- \
  --vendor all --channel can0 --mode scan --start-id 1 --end-id 255