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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).
  • 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.

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Support Landscape

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Production Support

RobStride note: high-level control commands are shared across RS00-RS06, but manual function-code parameters are section 4 runtime. Parameter table data is aligned with RobStride/Product_Information commit ba7236bc26417766fda71e75ae128c66dbd21aba. | MyActuator | X-series (runtime model string, default X8) | enable, disable, stop, status, current, vel, pos, version, mode-query | No (CLI command-level support) | Yes | Uses standard 11-bit IDs 0x140+id / 0x240+id; practical ID range 1..32 | | HighTorque | hightorque (runtime model string; native ht_can v1.5.5) | scan, read, MIT, POS_VEL, VEL, stop, brake, rezero | No (vendor command-level support) | Yes | Unified rad/rad/s/Nm interface; native payload scaling handled internally |

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Template (Not Production)

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Mode Legend

  • MIT: position + velocity + stiffness + damping + torque feedforward
  • POS_VEL: position + velocity limit
  • VEL: velocity control
  • FORCE_POS: position + velocity limit + torque ratio