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Fetch the complete documentation index at: https://motorbridge.seeedstudio.com/llms.txt

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Source: examples/web/README.md

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Web HMI Examples

CAN bring-up and troubleshooting guide: ../../docs/en/can_debugging.md

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ws_quad_sync_hmi.html

Single-slider Web HMI for synchronized 4-motor angle control via ws_gateway. Default targets:
  • Damiao 0x01 (4340P, feedback 0x11)
  • Damiao 0x07 (4310, feedback 0x17)
  • MyActuator 1 (X8, feedback 0x241)
  • HighTorque 1 (hightorque, feedback 0x01)

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Run

# terminal A: start 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

# terminal B: serve static files from repo root
python3 -m http.server 18080

# browser:
http://127.0.0.1:18080/examples/web/ws_quad_sync_hmi.html

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Notes

  • The page creates one WS session per motor for better sync and lower target-switch overhead.
  • Position commands now default to continuous=true, so one send will keep holding position; use “Stop All” or “Disable All” to release.
  • Slider value is angle in radians and is sent to all connected motors.
  • If you see occasional disconnects on one motor session:
    • raise gateway --dt-ms from 20 to 50
    • keep HMI 发送周期(ms) around 60~100
    • keep 错峰(ms) around 8~20

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ws_quad_sync_hmi_rs.html

Based on ws_quad_sync_hmi.html, this variant only replaces motor #4 from HighTorque to RobStride. The other three targets stay the same. Default targets:
  • Damiao 0x01 (4340P, feedback 0x11)
  • Damiao 0x07 (4310, feedback 0x17)
  • MyActuator 1 (X8, feedback 0x241)
  • RobStride 127 (rs-06, feedback 0xFE)

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Run

# terminal A: start 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

# terminal B: serve static files from repo root
python3 -m http.server 18080

# browser (RobStride variant):
http://127.0.0.1:18080/examples/web/ws_quad_sync_hmi_rs.html