> ## 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.

# C++ Examples Overview

## 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.

## 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:

```bash theme={null}
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:

```bash theme={null}
cargo run -p motor_cli --release -- \
  --vendor all --channel can0 --mode scan --start-id 1 --end-id 255
```