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Source: examples/python/README.md

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Python ctypes 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.
Python demos that call the Rust ABI directly through ctypes.
Chinese version: README.zh-CN.md

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File

  • python_ctypes_demo.py: unified two-vendor demo
  • four_vendor_pos_sync.py: concurrent multi-vendor position sync helper
Vendor coverage:
  • Damiao: enable, disable, mit, pos-vel, vel, force-pos
  • RobStride: ping, enable, disable, mit, pos-vel, vel, read-param, write-param
    • note: torque/current is parameter-level only (write-param on iq_ref/limits), not a unified high-level mode

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Build and Run

cargo build -p motor_abi --release
python3 examples/python/python_ctypes_demo.py --help

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Examples

Damiao MIT: 
python3 examples/python/python_ctypes_demo.py \
  --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: 
python3 examples/python/python_ctypes_demo.py \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 --mode ping
RobStride read parameter: 
python3 examples/python/python_ctypes_demo.py \
  --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. RobStride write parameter: 
python3 examples/python/python_ctypes_demo.py \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 \
  --mode write-param --param-id 0x700A --param-type f32 --param-value 0.2
Multi-vendor position sync (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
Dry-run (print generated motor_cli commands only): 
python3 examples/python/four_vendor_pos_sync.py \
  damiao:0x01 damiao:0x07 myactuator:1 hightorque:1 \
  --pos 1.57 --dry-run