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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.
Cross-language example entry for the current motorbridge stack.
Chinese version: README.zh-CN.md

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Coverage

  • Rust CLI: motor_cli/src/main.rs
  • C ABI demo: examples/c/c_abi_demo.c
  • C++ ABI demo: examples/cpp/cpp_abi_demo.cpp
  • Python ctypes demo: examples/python/python_ctypes_demo.py
  • Multi-vendor position sync script: examples/python/four_vendor_pos_sync.py
  • WS quad sync HMI: examples/web/ws_quad_sync_hmi.html
  • WS quad independent-slider HMI: examples/http_quad_control_demo/README.zh-CN.md
  • Python SDK demos: bindings/python/examples/*
  • C++ wrapper demos: bindings/cpp/examples/*
  • Damiao tuning reference:
    • ../motor_cli/DAMIAO_API.md
    • ../motor_cli/DAMIAO_API.zh-CN.md
  • RobStride API/parameter reference:
    • ../motor_cli/ROBSTRIDE_API.md
    • ../motor_cli/ROBSTRIDE_API.zh-CN.md
  • MyActuator command/mode reference:
    • ../motor_cli/MYACTUATOR_API.md
    • ../motor_cli/MYACTUATOR_API.zh-CN.md

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Vendor Support in Examples

  • Damiao:
    • modes: enable, disable, mit, pos-vel, vel, force-pos
    • register / ID workflows remain available through CLI, Python SDK, and calibration tools
  • RobStride:
    • modes: ping, enable, disable, mit, vel, read-param, write-param
    • parameter examples use the RobStride ABI and binding helpers
  • MyActuator:
    • modes: scan, enable, disable, stop, status, current, vel, pos, version, mode-query
    • CLI input uses radians/rad-s for pos/vel (motor_cli converts to protocol degrees internally)

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CAN Setup

sudo ip link set can0 down 2>/dev/null || true
sudo ip link set can0 type can bitrate 1000000 restart-ms 100
sudo ip link set can0 up
ip -details link show can0

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Experimental Windows Support (PCAN-USB)

Linux remains the primary target. Windows support is experimental and currently uses PEAK PCAN.
  • Install PEAK PCAN driver + PCAN-Basic runtime (PCANBasic.dll).
  • Use can0@1000000 as the Windows channel form.
Windows quick validation commands: 
cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode scan --start-id 1 --end-id 16
cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode pos-vel --pos 3.1416 --vlim 2.0 --loop 1 --dt-ms 20
cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4310 --motor-id 0x07 --feedback-id 0x17 --mode pos-vel --pos 3.1416 --vlim 2.0 --loop 1 --dt-ms 20

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Quick Start

Damiao with Rust CLI: 
cargo run -p motor_cli --release -- \
  --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 with Rust CLI: 
cargo run -p motor_cli --release -- \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 \
  --mode ping
RobStride parameter read: 
cargo run -p motor_cli --release -- \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 \
  --mode read-param --param-id 0x7019
For RobStride examples, rs-06 is only a sample model. Use the RS model you use for limits/logging. High-level control commands keep the same shape, and parameter read/write uses the common RobStride section 4 runtime table. MyActuator with Rust CLI: 
cargo run -p motor_cli --release -- \
  --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode pos --pos 3.1416 --max-speed 5.236 --loop 1 --dt-ms 50

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Cross-language ABI Demos

Python ctypes: 
cargo build -p motor_abi --release
python3 examples/python/python_ctypes_demo.py --vendor robstride --channel can0 --model rs-06 --motor-id 127 --mode ping
python3 examples/python/python_ctypes_demo.py --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode mit
C: 
cargo build -p motor_abi --release
cc examples/c/c_abi_demo.c -I motor_abi/include -L target/release -lmotor_abi -o c_abi_demo
LD_LIBRARY_PATH=target/release ./c_abi_demo --vendor robstride --channel can0 --model rs-06 --motor-id 127 --mode ping
LD_LIBRARY_PATH=target/release ./c_abi_demo --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode mit
C++: 
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 --vendor robstride --channel can0 --model rs-06 --motor-id 127 --mode ping
LD_LIBRARY_PATH=target/release ./cpp_abi_demo --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode mit
  • Python SDK:
    • bindings/python/examples/python_wrapper_demo.py
    • bindings/python/examples/robstride_wrapper_demo.py
  • C++ wrapper:
    • bindings/cpp/examples/cpp_wrapper_demo.cpp
    • bindings/cpp/examples/robstride_wrapper_demo.cpp

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Validation Checklist (suggested order)

  1. Scan all vendors on the same bus.
  2. Verify Damiao control path (MIT or velocity).
  3. Verify RobStride control path (ping/read-param/velocity).
  4. Verify MyActuator control path (position or velocity).
  5. Verify Python binding demos (Damiao + RobStride).
  6. Verify C++ binding demos (Damiao + RobStride).
Quick commands: 
# 1) Unified scan
cargo run -p motor_cli --release -- --vendor all --channel can0 --mode scan --start-id 1 --end-id 255

# 2) Damiao quick velocity
cargo run -p motor_cli --release -- --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode vel --vel 0.5 --loop 40 --dt-ms 50

# 3) RobStride ping + velocity
cargo run -p motor_cli --release -- --vendor robstride --channel can0 --model rs-06 --motor-id 127 --feedback-id 0xFD --mode ping
cargo run -p motor_cli --release -- --vendor robstride --channel can0 --model rs-06 --motor-id 127 --feedback-id 0xFD --mode vel --vel 0.3 --loop 40 --dt-ms 50

# 4) MyActuator position (radians)
cargo run -p motor_cli --release -- --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 --mode pos --pos 3.1416 --max-speed 5.236 --loop 1 --dt-ms 50

# 5) Multi-vendor position sync helper (Damiao x2 + MyActuator + HighTorque)
python3 examples/python/four_vendor_pos_sync.py \
  damiao 0x01 damiao 0x07 myactuator 1 hightorque 1 \
  --pos 1.57 --damiao-model-by-id "0x01=4340P,0x07=4310" --stagger-ms 50

# 6) Web HMI (one slider drives 4 motors to same angle via ws_gateway)
cargo run -p ws_gateway --release -- --bind 127.0.0.1:9002 --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 --dt-ms 20
python3 -m http.server 18080
# open: http://127.0.0.1:18080/examples/web/ws_quad_sync_hmi.html

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Notes

  • id-dump is a Damiao-oriented workflow; id-set supports Damiao and RobStride device ID updates. Unified scan is available in Rust CLI (--vendor all) and Python SDK CLI (motorbridge.cli scan --vendor all).
  • RobStride examples focus on ping, parameter access, MIT, and velocity control.