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.

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Damiao API and Tuning Reference (Complete)

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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.

Chinese version: DAMIAO_API.zh-CN.md

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1) Common Device Parameters

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2) Real-time Control Mode Parameters

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2.1 MIT Mode

• pos: target position
• vel: target velocity
• kp: position stiffness gain
• kd: velocity damping gain
• tau: feedforward torque

motor_cli \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode mit --pos 0 --vel 0 --kp 20 --kd 1 --tau 0 --loop 200 --dt-ms 20

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2.2 POS_VEL Mode

• pos: target position
• vlim: velocity limit

motor_cli \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode pos-vel --pos 3.10 --vlim 1.50 --loop 300 --dt-ms 20

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2.3 VEL Mode

• vel: target velocity

motor_cli \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode vel --vel 0.5 --loop 100 --dt-ms 20

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2.4 FORCE_POS Mode

• pos: target position
• vlim: velocity limit
• ratio: torque limit ratio

motor_cli \
  --channel can0 --model 4340P --motor-id 0x01 --feedback-id 0x11 \
  --mode force-pos --pos 0.8 --vlim 2.0 --ratio 0.3 --loop 100 --dt-ms 20

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2.5 Mode Selection (CTRL_MODE)

• rid=10 (CTRL_MODE), values:
  • 1=MIT
  • 2=POS_VEL
  • 3=VEL
  • 4=FORCE_POS

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3) High-impact Registers (Priority)

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4) Protection Registers

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5) How to Read/Write Parameters

1. get_register read old value
2. write_register write new value
3. get_register read back
4. store_parameters persist

from motorbridge import Controller

with Controller("can0") as ctrl:
    m = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    old = m.get_register_f32(22, 1000)
    print("old VMAX", old)
    m.write_register_f32(22, old * 0.9)
    new = m.get_register_f32(22, 1000)
    print("new VMAX", new)
    m.store_parameters()
    m.close()

{"op":"get_register_f32","rid":22,"timeout_ms":1000}
{"op":"write_register_f32","rid":22,"value":25.0}
{"op":"store_parameters"}

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6) ID and Calibration Parameters

• rid=8 (ESC_ID): command ID
• rid=7 (MST_ID): feedback ID

• Rust CLI: motor_cli --vendor damiao --mode scan ... and --set-motor-id/--set-feedback-id --store --verify-id
• Python: motorbridge-cli scan/id-set/id-dump, damiao-read-param, damiao-write-param, and Rust-style run --set-motor-id/--set-feedback-id
• WS: scan, set_id, verify

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7) Safety Notes

• Tune one parameter group at a time.
• Use small steps, verify each change.
• Keep safe mechanical load and emergency stop ready.
• For protection thresholds (0/2/3/29), avoid aggressive changes without hardware margin analysis.

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8) Gripper Motor Calibration

1. Use MIT mode with low kp and tau=0 to move toward the mechanical limit — the motor stops softly on contact.
2. Wait until feedback shows vel ≈ 0 and pos is stable, then run --mode set-zero.
3. After calibration, use MIT mode for closing (force-limited, safe) and pos-vel mode for opening (fast, precise).