> ## 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.

# Web HMI Example

CAN bring-up and troubleshooting guide: [../../docs/en/can\_debugging.md](/source/project/can-debugging)

## 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`)

### Run

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

### 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`

## 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`)

### Run

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