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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: bindings/python/get_started/README.md

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Python Binding Quickstart (pip-first)

This folder is a fresh, beginner-first quickstart for users who install from pip. Goal: install package -> run scan -> run a motor example in minutes.

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1) Install

python3 -m pip install motorbridge
If you want to test pre-release package from TestPyPI: 
python3 -m pip install -i https://test.pypi.org/simple/ motorbridge==<version>

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2) Hardware and Channel

  • Linux SocketCAN channel examples: can0, can1, slcan0
  • Windows PCAN channel examples: can0@1000000, can1@1000000
  • Ensure only one sender is writing to the bus while testing.

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Which transport should I use?

  • TRANSPORT = "auto" or "socketcan": use normal CAN path (CHANNEL is used).
  • TRANSPORT = "dm-serial": use Damiao serial bridge (SERIAL_PORT / SERIAL_BAUD are used), Damiao only.

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3) Quick Commands (no source checkout required)

# Unified scan from installed CLI
motorbridge-cli scan --vendor all --channel can0 --start-id 1 --end-id 255

# Single Damiao control (example IDs)
motorbridge-cli run --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode pos-vel --pos 1.0 --vlim 1.0 --loop 60 --dt-ms 20

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4) Course scripts in this folder

All runnable scripts in get_started now live under courses/. For beginners, this is easier to follow and avoids duplicate entry points.

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Config constants (simple meaning)

  • TRANSPORT: auto/socketcan/dm-serial
  • CHANNEL: CAN interface name (can0, slcan0, can0@1000000, …)
  • VENDOR: scan target vendor (all is most common)
  • MOTOR_ID / FEEDBACK_ID: motor command/feedback IDs
  • MODEL: motor model string
  • TARGET_POS / POS: target position in radians
  • V_LIMIT: velocity limit for position mode
  • LOOP: send loop count
  • DT_MS: control period in ms
  • SERIAL_PORT / SERIAL_BAUD: used only for dm-serial

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5) Course Series (workflow-first)

If you want a strict real-world workflow course, use courses/:
  • courses/00-enable-and-status.py
  • courses/01-scan.py
  • courses/02-register-rw.py
  • courses/03-mode-switch-method.py
  • courses/04-mode-mit.py
  • courses/05-mode-pos-vel.py
  • courses/06-mode-vel.py
  • courses/07-mode-force-pos.py
  • courses/08-mode-mixed-switch.py
  • courses/09-multi-motor.py
Example: 
python3 bindings/python/get_started/courses/00-enable-and-status.py
python3 bindings/python/get_started/courses/01-scan.py
python3 bindings/python/get_started/courses/03-mode-switch-method.py

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6) Run now (courses only)

python3 bindings/python/get_started/courses/00-enable-and-status.py
python3 bindings/python/get_started/courses/01-scan.py
python3 bindings/python/get_started/courses/09-multi-motor.py

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7) Common Issues

  • os error 105: bus TX is too fast or another process is sending; increase --dt-ms to 30/50.
  • no motor response: verify CAN wiring, bitrate, motor/feedback IDs.
  • slcan users: bring up slcan0 before running examples.

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8) poll_feedback_once() version note

  • <= v0.1.6: keep manual poll_feedback_once() in status-query scripts.
  • v0.1.7+: background polling is enabled by default, so manual poll is usually optional.
  • Course scripts keep poll_feedback_once() for backward-compatible teaching style.
  • Python API overview: bindings/python/README.md
  • Full examples catalog: bindings/python/examples/README.md
  • CLI full docs: motor_cli/README.md