> ## 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.

# Python 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.

Python demos that call the Rust ABI directly through `ctypes`.

> Chinese version: [README.zh-CN.md](/zh/source/examples/python/overview)

## 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

## Build and Run

```bash theme={null}
cargo build -p motor_abi --release
python3 examples/python/python_ctypes_demo.py --help
```

## Examples

Damiao MIT:

```bash theme={null}
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:

```bash theme={null}
python3 examples/python/python_ctypes_demo.py \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 --mode ping
```

RobStride read parameter:

```bash theme={null}
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:

```bash theme={null}
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):

```bash theme={null}
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):

```bash theme={null}
python3 examples/python/four_vendor_pos_sync.py \
  damiao:0x01 damiao:0x07 myactuator:1 hightorque:1 \
  --pos 1.57 --dry-run
```