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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.

Source: docs/en/extending.md

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Extending motorbridge

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Vendor Onboarding Flow

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Add a New Vendor (example: RobStride)

Goal: keep motor_core unchanged; add a new vendor crate.
  1. Create crate (for example motor_vendor_robstride).
  2. Implement vendor layers:
    • protocol.rs
    • registers.rs
    • motor.rs (implement motor_core::MotorDevice)
    • controller.rs (facade over CoreController)
  3. Expose vendor access from ABI if needed (for example motor_controller_add_robstride_motor).
  4. Add crate to workspace members.

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Add Models Under Existing Vendor (Damiao)

  1. Open motor_vendors/damiao/src/motor.rs.
  2. Extend model catalog entries (model, pmax, vmax, tmax).
  3. Keep model strings consistent with user input.

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Protocol Compatibility Rule

Do not assume same-vendor models are always protocol-identical. Validate at least:
  • frame structure and arbitration IDs
  • register mapping and data type
  • control mode mapping
  • limit ranges and scaling
  • status/error semantics
If any differs, split implementation by sub-protocol profile.

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Suggested Hardware Regression

  1. enable -> ensure_mode(MIT) -> zero command
  2. trajectory follow test (position/velocity/torque)
  3. register read/write validation (rid=10 and critical R/W registers)
  4. clear-error and recovery path
  5. 10-30 min stability run