> ## 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.

# Integrations 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.

Production-oriented bridge adapters live here.

```mermaid theme={null}
flowchart LR
  CORE["motorbridge core/ABI"] --> ROS["ros2_bridge"]
  CORE --> WS["ws_gateway"]
  ROS --> ROBOT["ROS2 graph / robotics apps"]
  WS --> WEB["Web clients / remote services"]
```

* `ros2_bridge/`: ROS2 integration (implemented)
* `ws_gateway/`: Rust WebSocket gateway (implemented, V1 JSON over WS)

## 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` for Windows channel+bitrate in CLI/gateway commands.