> ## 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.

# Extending motorbridge

## Vendor Onboarding Flow

```mermaid theme={null}
flowchart TD
  A["Create new vendor crate"] --> B["Implement protocol.rs/registers.rs"]
  B --> C["Implement motor.rs (MotorDevice)"]
  C --> D["Implement controller facade"]
  D --> E{"Need cross-language access?"}
  E -- Yes --> F["Add ABI entry function"]
  E -- No --> G["Use Rust API only"]
  F --> H["Add hardware regression"]
  G --> H
  H --> I["Document model/protocol constraints"]
```

## 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.

## 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.

## 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.

## 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