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Source: examples/cpp/README.md

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C++ ABI Examples

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Channel Compatibility (PCAN + slcan + 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.
  • 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.
Direct C++ examples on top of motor_abi.h.
Chinese version: README.zh-CN.md

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Files

  • cpp_abi_demo.cpp: unified ABI demo for Damiao and RobStride

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Build

cargo build -p motor_abi --release
g++ -std=c++17 examples/cpp/cpp_abi_demo.cpp -I motor_abi/include -L target/release -lmotor_abi -o cpp_abi_demo
LD_LIBRARY_PATH=target/release ./cpp_abi_demo --help

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Examples

Damiao MIT: 
LD_LIBRARY_PATH=target/release ./cpp_abi_demo \
  --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode mit --pos 0 --vel 0 --kp 20 --kd 1 --tau 0 --loop 50 --dt-ms 20
RobStride ping: 
LD_LIBRARY_PATH=target/release ./cpp_abi_demo \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 --mode ping
RobStride read parameter: 
LD_LIBRARY_PATH=target/release ./cpp_abi_demo \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 \
  --mode read-param --param-id 0x7019 --param-type f32
The examples use rs-06 only as a sample model. Use the RS model you use for limits/logging; runtime parameter IDs and types come from the common section 4 table.