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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/windows_distribution.md

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Windows Distribution and SDK Usage

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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.
For full cross-platform diagnostics (Linux slcan + Windows pcan), see can_debugging.md. This guide explains how to ship and consume motorbridge on Windows.

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Artifact Matrix

  • Python users:
    • install .whl (motorbridge-<ver>-cp3xx-...-win_amd64.whl)
  • C/C++ users:
    • use ABI .zip (motorbridge-abi-<ver>-windows-x86_64.zip)
  • Linux-only package:
    • .deb is for Ubuntu/Linux and is not installable on Windows
  • MSI:
    • optional convenience installer, not required for SDK usage

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Runtime Dependencies

  • PEAK PCAN driver installed
  • PCANBasic.dll available from PCAN-Basic runtime

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Build Windows ABI Locally

cargo build -p motor_abi --release
Expected output:
  • target/release/motor_abi.dll
  • target/release/motor_abi.lib

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Build Windows Python Wheel Locally

python -m pip install --user wheel
set MOTORBRIDGE_LIB=%CD%\\target\\release\\motor_abi.dll
set MOTORBRIDGE_WS_GATEWAY_BIN=%CD%\\target\\release\\ws_gateway.exe
python -m pip wheel --no-build-isolation bindings/python -w bindings/python/dist
Notes:
  • The wheel build now embeds the ABI DLL automatically.
  • If the ABI DLL cannot be found, wheel build fails fast with a clear error.

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Install and Verify Python SDK

python -m pip install bindings/python/dist/motorbridge-*.whl
python -c "from motorbridge import Controller; c=Controller('can0@1000000'); print('ok'); c.close()"

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Install and Verify C/C++ ABI

  1. Download motorbridge-abi-<ver>-windows-x86_64.zip.
  2. Extract include/lib to your dependency folder.
  3. Link motor_abi.dll + import lib in your project.
Minimal ctypes verification: 
import ctypes
lib = ctypes.CDLL("motor_abi.dll")
lib.motor_controller_new_socketcan.argtypes = [ctypes.c_char_p]
lib.motor_controller_new_socketcan.restype = ctypes.c_void_p
ptr = lib.motor_controller_new_socketcan(b"can0@1000000")
assert ptr
lib.motor_controller_free(ptr)

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Channel and Bitrate Conventions on Windows

  • can0 maps to PCAN_USBBUS1
  • can1 maps to PCAN_USBBUS2
  • Add bitrate as suffix: can0@1000000
cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode scan --start-id 1 --end-id 16
cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4340P --motor-id 0x01 --feedback-id 0x11 --mode pos-vel --pos 3.1416 --vlim 2.0 --loop 1 --dt-ms 20
cargo run -p motor_cli --release -- --vendor damiao --channel can0@1000000 --model 4310 --motor-id 0x07 --feedback-id 0x17 --mode pos-vel --pos 3.1416 --vlim 2.0 --loop 1 --dt-ms 20