> ## 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 + 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](/zh/source/examples/cpp/overview)

## Files

* `cpp_abi_demo.cpp`: unified ABI demo for Damiao and RobStride

## Build

```bash theme={null}
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
```

## Examples

Damiao MIT:

```bash theme={null}
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:

```bash theme={null}
LD_LIBRARY_PATH=target/release ./cpp_abi_demo \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 --mode ping
```

RobStride read parameter:

```bash theme={null}
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.