> ## 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.

# Supported Devices

## 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.

## Support Landscape

```mermaid theme={null}
mindmap
  root((motorbridge devices))
    Production
      Damiao
        3507
        4310 / 4310P
        4340 / 4340P
        6006 / 8006 / 8009
        10010 / 10010L
        H3510 / G6215 / H6220 / JH11 / 6248P
        Modes
          MIT / POS_VEL / VEL / FORCE_POS
      RobStride
        rs-00 / rs-01 / rs-02
        rs-03 / rs-04 / rs-05 / rs-06
        Modes
          MIT / POS_VEL / VEL / ping / enable-disable / parameter read-write / set-id / zero
      MyActuator
        X-series (ID based)
        Modes
          enable / disable / stop / status / current / vel / pos
      HighTorque
        hightorque (native ht_can v1.5.5)
        Modes
          scan / read / mit / pos-vel / vel / stop
    Template
      template_vendor
        model_a
```

## Production Support

| Brand     | Models                                                                                            | Control Modes                                                                       | Register R/W                                                         | ABI Coverage | Notes                                                                                                            |
| --------- | ------------------------------------------------------------------------------------------------- | ----------------------------------------------------------------------------------- | -------------------------------------------------------------------- | ------------ | ---------------------------------------------------------------------------------------------------------------- |
| Damiao    | 3507, 4310, 4310P, 4340, 4340P, 6006, 8006, 8009, 10010L, 10010, H3510, G6215, H6220, JH11, 6248P | scan, enable, disable, MIT, POS\_VEL, VEL, FORCE\_POS, set-id, set-zero             | Yes (f32/u32)                                                        | Yes          | Production baseline; use `--store 1 --verify-id 1` for ID updates                                                |
| RobStride | rs-00, rs-01, rs-02, rs-03, rs-04, rs-05, rs-06                                                   | scan, ping, enable, disable, MIT, POS\_VEL, VEL, parameter read/write, set-id, zero | Yes (i8/i16/i32/u8/u16/u32/f32/string raw chunks, section 4 runtime) | Yes          | Uses 29-bit extended CAN IDs; default host/feedback ID `0xFD`; runtime parameters use the common section 4 table |

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 |

## Template (Not Production)

| Brand            | Models                 | Control Modes    | Register R/W     | ABI Coverage | Notes                                  |
| ---------------- | ---------------------- | ---------------- | ---------------- | ------------ | -------------------------------------- |
| template\_vendor | model\_a (placeholder) | Placeholder only | Placeholder only | No           | Scaffolding for new vendor integration |

## Mode Legend

* MIT: position + velocity + stiffness + damping + torque feedforward
* POS\_VEL: position + velocity limit
* VEL: velocity control
* FORCE\_POS: position + velocity limit + torque ratio