Cross-language Examples

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.

Index

Rust CLI: motor_cli/src/main.rs
C ABI: examples/c/c_abi_demo.c
C++ ABI: examples/cpp/cpp_abi_demo.cpp
Python ctypes: examples/python/python_ctypes_demo.py
Multi-vendor position sync script: examples/python/four_vendor_pos_sync.py
WS quad sync HMI: examples/web/ws_quad_sync_hmi.html
Python SDK: bindings/python/examples/*
C++ wrapper: bindings/cpp/examples/*

Quick Commands

cargo build -p motor_abi --release

Damiao Python ctypes:

python3 examples/python/python_ctypes_demo.py --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode mit

RobStride Python ctypes:

python3 examples/python/python_ctypes_demo.py --vendor robstride --channel can0 --model rs-06 --motor-id 127 --mode ping

RobStride C ABI:

cc examples/c/c_abi_demo.c -I motor_abi/include -L target/release -lmotor_abi -o c_abi_demo
LD_LIBRARY_PATH=target/release ./c_abi_demo --vendor robstride --channel can0 --model rs-06 --motor-id 127 --mode read-param --param-id 0x7019 --param-type f32

Multi-vendor position sync helper:

python3 examples/python/four_vendor_pos_sync.py \
  damiao 0x01 damiao 0x07 myactuator 1 hightorque 1 \
  --pos 1.57 \
  --damiao-model-by-id "0x01=4340P,0x07=4310" \
  --stagger-ms 50

Web HMI (single slider controls 4 motors to the same angle):

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
python3 -m http.server 18080
# open http://127.0.0.1:18080/examples/web/ws_quad_sync_hmi.html

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Channel Compatibility (PCAN + slcan + Damiao Serial Bridge)

Index

Quick Commands

​Channel Compatibility (PCAN + slcan + Damiao Serial Bridge)

​Index

​Quick Commands

Channel Compatibility (PCAN + slcan + Damiao Serial Bridge)

Index

Quick Commands