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.

​

motorbridge Python SDK

​

Channel Compatibility (PCAN + slcan + CAN-FD + 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.
• CAN-FD transport is available both in CLI (--transport socketcanfd) and Python SDK (Controller.from_socketcanfd(...)), and is required for Hexfellow.
• Damiao-only serial bridge transport is also available in CLI (--transport dm-serial --serial-port /dev/ttyACM0 --serial-baud 921600).
• Full Damiao serial-bridge interface list and command patterns are documented in motor_cli/README.md (section 3.6 in motor_cli/README.zh-CN.md).
• 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.

Chinese version: README.zh-CN.md

​

README Navigation (What Each One Is For)

1. This file: README.md Purpose: Python binding overview (install, API scope, common commands).
2. examples/README.md (English) / examples/READMEzh_cn.md (Chinese) Purpose: practical demo index and run instructions (from simplest to advanced). 2.5. ../motorbridge-docs Purpose: canonical Mintlify documentation site (tutorial + API style docs).
3. get_started/README.md / get_started/README.zh-CN.md Purpose: pip-first onboarding path (install -> scan -> run).
4. DAMIAO_PYTHON_REFERENCE.zh-CN.md Purpose: Damiao Python interface reference (parameter lookup style).
5. DAMIAO_binding.md Purpose: Damiao binding implementation notes (design/internal behavior).
6. README.zh-CN.md Purpose: Chinese overview for Chinese-speaking teammates.

• If your goal is “run something now”, start with Start Here (Simplest 2 Examples) in examples/README.md.
• If your goal is CLI parameter lookup, see ../../motor_cli/README.md.

​

Scope

• Current package target version: 0.2.9.
• Published wheel includes motor_abi shared library and ws_gateway binary for that platform.
• After pip install motorbridge, gateway binary path is typically: .../site-packages/motorbridge/bin/ws_gateway (or ws_gateway.exe on Windows).
• Gateway launch command (added to PATH by pip):
  • motorbridge-gateway -- --bind 127.0.0.1:9002 ...
• Security note:
  • keep loopback bind (127.0.0.1) for local usage.
  • if you bind to non-loopback addresses (0.0.0.0 or host IP), export MOTORBRIDGE_WS_TOKEN before launch.
  • clients must pass the token in x-motorbridge-token or Authorization: Bearer ....
• macOS runtime note (only if you see dynamic library load errors):
  • Resolve binary path generically: GW="$(python3 -c "import motorbridge, pathlib; print(pathlib.Path(motorbridge.__file__).resolve().parent/'bin'/'ws_gateway')")"
  • Use package-local lib directory (no machine-specific absolute path): PKG_DIR="$(python3 -c "import motorbridge, pathlib; print(pathlib.Path(motorbridge.__file__).resolve().parent)")" DYLD_LIBRARY_PATH="$PKG_DIR/lib:${DYLD_LIBRARY_PATH:-}" "$GW" --bind 127.0.0.1:9002 --vendor damiao --channel can0 --model auto --motor-id 0x01 --feedback-id 0x11 --dt-ms 20
• High-level API: Controller, Motor, Mode
• CLI: motorbridge-cli
• Controller constructors:
  • Controller(channel="can0") (SocketCAN/PCAN path)
  • Controller.from_socketcanfd(channel="can0") (CAN-FD path, required by Hexfellow)
  • Controller.from_dm_serial(serial_port="/dev/ttyACM0", baud=921600) (Damiao-only serial bridge)
• Vendors:
  • Damiao: add_damiao_motor(...)
  • Hexfellow: add_hexfellow_motor(...)
  • MyActuator: add_myactuator_motor(...)
  • RobStride: add_robstride_motor(...)
  • HighTorque: add_hightorque_motor(...)
• Unified state-query pattern:
  • Recommended flow: request_feedback() -> poll_feedback_once() -> get_state().
  • RobStride now supports this unified pattern via ABI-level compatibility (while robstride_ping() is still available).

​

Unified Mode Mapping Summary (Top-Level -> Vendor Native)

• RobStride unified high-level control currently covers MIT / POS_VEL / VEL.
• Torque/current is parameter-level only for RobStride (robstride_write_param_*), not a dedicated unified mode.
• RobStride supports rs-00 through rs-06; pass the real model to add_robstride_motor(...) because parameter read/write uses the common section 4 runtime parameter table.
• RobStride feedback/host default should use 0xFD; scan tries 0xFD,0xFF,0xFE,0x00,0xAA by default.
• RobStride feedback_id / host_id is not the motor device_id; scan hits report the motor ID as probe / device_id.

​

Quick Start

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    ctrl.enable_all()
    motor.ensure_mode(Mode.MIT, 1000)
    motor.send_mit(0.0, 0.0, 20.0, 1.0, 0.0)
    print(motor.get_state())
    motor.close()

from motorbridge import Controller, Mode

with Controller.from_dm_serial("/dev/ttyACM1", 921600) as ctrl:
    motor = ctrl.add_damiao_motor(0x04, 0x14, "4310")
    ctrl.enable_all()
    motor.ensure_mode(Mode.MIT, 1000)
    motor.send_mit(0.5, 0.0, 20.0, 1.0, 0.0)
    motor.close()

from motorbridge import Controller

with Controller("can0") as ctrl:
    motor = ctrl.add_robstride_motor(127, 0xFD, "rs-06")  # replace with the RS model you use for limits/logging
    print(motor.robstride_ping())
    print(motor.robstride_get_param_f32(0x7019))
    motor.close()

from motorbridge import Controller, Mode

with Controller("can0") as ctrl:
    motor = ctrl.add_myactuator_motor(1, 0x241, "X8")
    ctrl.enable_all()
    motor.ensure_mode(Mode.POS_VEL, 1000)
    motor.send_pos_vel(3.1416, 2.0)  # rad / rad/s
    print(motor.get_state())
    motor.close()

from motorbridge import Controller, Mode

with Controller.from_socketcanfd("can0") as ctrl:
    motor = ctrl.add_hexfellow_motor(1, 0x00, "hexfellow")
    ctrl.enable_all()
    motor.ensure_mode(Mode.MIT, 1000)      # Hexfellow supports MIT / POS_VEL
    motor.send_mit(0.8, 1.0, 30.0, 1.0, 0.1)
    print(motor.get_state())
    motor.close()

​

CLI Examples

motorbridge-cli run \
  --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode mit --pos 0 --vel 0 --kp 20 --kd 1 --tau 0 --loop 50 --dt-ms 20

motorbridge-cli run \
  --vendor damiao --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --set-motor-id 0x02 --set-feedback-id 0x12 --store 1 --verify-id 1

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 \
  --mode ping

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 2 --feedback-id 0xFD \
  --mode mit --ensure-strict 1 \
  --pos 0.5 --vel 0 --kp 20.0 --kd 0.5 --tau 0 \
  --loop 100 --dt-ms 20

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-00 \
  --motor-id 2 --feedback-id 0xFD \
  --mode pos-vel \
  --pos 1.5 --vlim 1.0 --loc-kp 5.0 \
  --loop 1 --dt-ms 20

motorbridge-cli robstride-read-param \
  --channel can0 --model rs-06 --motor-id 127 --param-id 0x7019 --type f32

motorbridge-cli run \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 --feedback-id 0xFD \
  --mode read-param --param-id 0x7019 --param-type f32

motorbridge-cli damiao-read-param \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --param-id 21 --type f32

motorbridge-cli damiao-write-param \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --param-id 8 --type u32 --value 0x01 --verify 1

motorbridge-cli scan --vendor all --channel can0 --start-id 0x01 --end-id 0xFF

motorbridge-cli scan \
  --vendor robstride --channel can0 --start-id 1 --end-id 127 \
  --feedback-ids 0xFD,0xFF,0xFE,0x00,0xAA

motorbridge-cli id-set \
  --vendor robstride --channel can0 \
  --motor-id 127 --feedback-id 0xFD \
  --new-motor-id 126 --store 1 --verify 1

from motorbridge import Controller

with Controller("can0") as ctrl:
    motor = ctrl.add_hightorque_motor(1, 0x01, "hightorque")
    motor.send_mit(3.1416, 0.8, 0.0, 0.0, 0.8)  # kp/kd are accepted but ignored by protocol
    motor.request_feedback()
    print(motor.get_state())
    motor.close()

cargo run -p motor_cli --release -- \
  --vendor hightorque --channel can0 --motor-id 1 --mode read

​

Experimental Windows Support (PCAN-USB)

• Install PEAK PCAN driver + PCAN-Basic runtime (PCANBasic.dll).
• Use channel as can0@1000000 (maps to PCAN_USBBUS1 at 1Mbps).

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

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
python -m pip install bindings/python/dist/motorbridge-*.whl

​

Example Programs

• Damiao wrapper demo: examples/python_wrapper_demo.py
• Hexfellow CAN-FD demo: examples/hexfellow_canfd_demo.py (MIT / POS_VEL only)
• Damiao maintenance demo: examples/damiao_maintenance_demo.py
• Damiao register rw demo: examples/damiao_register_rw_demo.py
• Damiao dm-serial demo: examples/damiao_dm_serial_demo.py
• RobStride wrapper demo: examples/robstride_wrapper_demo.py
• Full Damiao mode demo: examples/full_modes_demo.py
• Damiao scan / tune / position helpers:
  • examples/scan_ids_demo.py
  • examples/pid_register_tune_demo.py
  • examples/pos_ctrl_demo.py
  • examples/pos_repl_demo.py

​

Damiao Full-Coverage Status

• control modes: mit / pos-vel / vel / force-pos
• transport paths: SocketCAN/PCAN constructor + from_dm_serial(...)
• maintenance ops: clear_error, set_zero_position, set_can_timeout_ms, request_feedback
  • project guard for Damiao set-zero: call disable() before set_zero_position()
  • no user-facing ms parameter for set-zero; core applies fixed 20ms settle
• register APIs: get/write f32, get/write u32, store_parameters

​

End-to-End Demo Commands

# Build ABI once
cargo build -p motor_abi --release
export PYTHONPATH=bindings/python/src
export LD_LIBRARY_PATH=$PWD/target/release:${LD_LIBRARY_PATH}

# Damiao wrapper demo
python3 bindings/python/examples/python_wrapper_demo.py \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --pos 0 --vel 0 --kp 20 --kd 1 --tau 0 --loop 20 --dt-ms 20

# RobStride wrapper demo: ping
python3 bindings/python/examples/robstride_wrapper_demo.py \
--channel can0 --model rs-06 --motor-id 127 --feedback-id 0xFD --mode ping

# RobStride wrapper demo: velocity
python3 bindings/python/examples/robstride_wrapper_demo.py \
--channel can0 --model rs-06 --motor-id 127 --feedback-id 0xFD \
  --mode vel --vel 0.3 --loop 40 --dt-ms 50

​

Notes

• id-dump is a Damiao workflow; id-set supports Damiao and RobStride; scan supports damiao|hexfellow|myactuator|robstride|hightorque|all.
• For RobStride id-set, --new-motor-id changes device_id; --feedback-id remains the host-side ID.
• RobStride motor_id / device_id is validated as 1..255; feedback_id / host_id is validated as 0..255 to prevent silent ctypes truncation.
• RobStride scan probes each --feedback-ids host_id exactly through host-id-specific ABI helpers; invalid host IDs are rejected instead of silently falling back.
• Mode.MIT and send_force_pos are not available for MyActuator in ABI wrapper.
• Hexfellow supports MIT and POS_VEL through ABI wrapper; VEL and FORCE_POS return unsupported.
• Full Damiao tuning reference stays in:
  • DAMIAO_API.md
  • DAMIAO_API.zh-CN.md

​

PyPI Auto Publish (GitHub Actions)

• Tag publish policy:
  • push vX.Y.Z -> publish the same artifacts to both TestPyPI and PyPI
• Manual publish is still available via workflow Python Publish:
  • testpypi (only TestPyPI)
  • pypi (only PyPI)

​

One-time setup (token mode)

1. Create API token on PyPI and add repository secret PYPI_API_TOKEN.
2. Create API token on TestPyPI and add repository secret TEST_PYPI_API_TOKEN.
3. Keep package version unique for every upload (for example 0.1.6, 0.1.7).