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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: CHANGELOG.md

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Changelog

All notable changes to this project will be documented in this file. The format is based on Keep a Changelog, and this project adheres to Semantic Versioning.

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[Unreleased]

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[0.2.9] - 2026-05-14

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Added

  • Python CLI now exposes Damiao parameter/register read and write commands: damiao-read-param and damiao-write-param.
  • Python CLI run now accepts Rust-style RobStride parameter modes: --mode read-param, --mode write-param, and --mode save.
  • Python CLI run now accepts Rust-style ID update shortcuts: --set-motor-id, --set-feedback-id, --verify-id, and Damiao model verification options.

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Fixed

  • Legacy Python CLI flat commands such as motorbridge-cli --vendor robstride ... are parsed as run commands instead of being rejected as invalid subcommands.
  • Python CLI RobStride pos-vel now follows the same native register path as the WS gateway (limit_spd 0x7017, loc_kp 0x701E, loc_ref 0x7016).
  • RobStride and Damiao Python CLI documentation was aligned with the Rust CLI and binding behavior.

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Changed

  • Python package version advanced to 0.2.9.
  • Rust workspace crates advanced to 0.2.9.

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[0.2.8] - 2026-05-12

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Fixed

  • Restored the MotorBridge tree to the v0.2.6-compatible unified RobStride interface shape.
  • Completed the RobStride protocol section 4 runtime parameter list through 0x702E, including damper, add_offset, alveolous_open, iq_test, and dcc_set.
  • RobStride set_zero_position() now keeps the same upper-level command/API shape while writing zero_sta(0x7029)=1 behind the scenes so zeroed motors use the -pi..pi startup coordinate range.
  • RobStride parameter save now sends the official type-22 payload 01 02 03 04 05 06 07 08.

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Changed

  • Python package version advanced to 0.2.8.
  • Rust workspace crates advanced to 0.2.8.

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[0.2.6] - 2026-05-09

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Added

  • RobStride host-id-specific ABI helpers for exact scan probing from Python: motor_handle_robstride_ping_host_id and motor_handle_robstride_get_param_f32_host_id.
  • Python SDK wrappers robstride_ping_host_id(...) and robstride_get_param_f32_host_id(...).
  • Release qualification coverage for Rust core/CLI, Python binding/CLI, package smoke checks, and full RobStride/Damiao CLI command examples.

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Changed

  • RobStride motor_id / device_id is now validated as 1..255; feedback_id / host_id is validated as 0..255 across core, Rust CLI, Python SDK/CLI, and websocket gateway flows.
  • Rust and Python RobStride scan now probe each listed --feedback-ids host ID exactly instead of silently falling back inside each candidate probe.
  • RobStride parameter response filtering now requires the response device_id to match the target motor, reducing cross-talk risk on multi-motor buses.
  • The embedded bindings/python/mintlify documentation copy was removed; canonical Mintlify docs now live in the sibling motorbridge-docs repository.

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[0.2.5] - 2026-05-09

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Added

  • Python CLI id-set --vendor robstride now supports RobStride device ID updates with optional store and verify.
  • Rust motor_cli accepts Python-style bare mode shorthand, for example motor_cli scan --vendor robstride ....
  • Rust RobStride scan now accepts --feedback-ids, --timeout-ms, --param-id, and --param-timeout-ms, matching the Python scan entrypoint.

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Changed

  • RobStride scan output and documentation now consistently distinguish motor device_id / probe from host-side feedback_id / host_id.
  • Python and Rust RobStride scan defaults are aligned around host ID candidates 0xFD,0xFF,0xFE,0x00,0xAA.

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[0.2.3] - 2026-04-16

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Changed

  • Refactored ABI FFI layers to reduce duplicated controller/motor dispatch boilerplate via shared macros and helpers.
  • Consolidated vendor parameter FFI entrypoints (Hexfellow/HighTorque/MyActuator/RobStride) with shared macro-generated get/write wrappers.
  • Aligned runtime/control-path robustness fixes across motor core, vendor controllers, Python bindings, and websocket gateway integration.

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[0.1.3] - 2026-03-24

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Added

  • New practical Damiao guide:
    • examples/damiao_controll_all_in_one.md
    • includes one-page command bundles for:
      • CLI four core modes (mit, pos-vel, vel, force-pos)
      • C/C++ ABI examples
      • Python ctypes ABI examples
      • Python bindings examples
      • C++ bindings examples

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Changed

  • Damiao CLI runtime output (motor_cli/src/damiao_cli.rs) now prints richer realtime fields:
    • id, arbitration_id, status_name
    • temperatures t_mos, t_rotor
    • mode-aware command/target context and tracking errors
      • MIT: cmd_pos/cmd_vel/kp/kd/cmd_tau/e_pos/e_vel
      • POS_VEL: cmd_pos/vlim/e_pos
      • VEL: cmd_vel/e_vel
      • FORCE_POS: cmd_pos/vlim/ratio/e_pos

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[0.1.2] - 2026-03-23

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Changed

  • Release version bump from 0.1.1 to 0.1.2 for clean tag progression.
  • Damiao dm-serial documentation rollout remains aligned across:
    • CLI README (full interface section)
    • root README
    • bindings/examples/integrations/tools related READMEs.

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[0.1.1] - 2026-03-23

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Added

  • Damiao serial-bridge transport (dm-serial) for unix-like systems:
    • CLI transport selection: --transport auto|socketcan|dm-serial
    • Serial options: --serial-port, --serial-baud
    • Damiao controller serial constructor and transport runtime wiring.
  • C ABI constructor for Damiao serial bridge:
    • motor_controller_new_dm_serial(serial_port, baud)
  • SDK support for Damiao serial bridge:
    • Python: Controller.from_dm_serial(...)
    • C++: Controller::from_dm_serial(...)
  • New Chinese operation manual for deployment/runtime usage:
    • docs/zh/operation_manual.md

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Changed

  • README alignment across examples/bindings/integrations/tools:
    • All Damiao-related READMEs now mention dm-serial availability.
    • Added explicit pointer to complete interface/command section in motor_cli/README.zh-CN.md (3.6) and motor_cli/README.md.

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[0.1.0] - 2026-03-20

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Added

  • Linux USB-CAN (slcan) quick guide in root README (EN/ZH), including slcand setup and --channel slcan0 usage examples.
  • Channel quick reference in motor_cli/README.md and motor_cli/README.zh-CN.md covering:
    • Linux SocketCAN channels (can0, slcan0) and Linux rule “no @bitrate in channel name”
    • Windows PCAN channel mapping (can0/can1) with optional @bitrate

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Changed

  • CLI startup summary now distinguishes scan semantics from control semantics:
    • --mode scan prints model_hint, base_feedback_id, and scan_range
    • defaults are explicitly tagged as (default) to reduce confusion

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Fixed

  • RobStride frame filtering now only accepts status/fault frames from the target motor ID, preventing cross-device state pollution on shared CAN buses.
  • Architecture Mermaid diagrams (EN/ZH) now include myactuator branch for consistency with workspace/runtime layout.

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Usage

  • Linux slcan setup and examples:
    • README.md / README.zh-CN.md section: “Linux USB-CAN (slcan) Quick Guide”
  • Channel compatibility and parameter rules:
    • motor_cli/README.md / motor_cli/README.zh-CN.md section: “Channel Quick Reference”