Rust CLI Overview

• Crate: motor_cli
• Recommended (release package): ./bin/motor_cli [ARGS...]
• Optional (source build): ./target/release/motor_cli [ARGS...]

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Release-first Usage

./bin/motor_cli -h
./bin/motor_cli -v
./bin/motor_cli --vendor damiao --mode scan --start-id 1 --end-id 16

export PATH="$(pwd)/bin:$PATH"
motor_cli -h
motor_cli -v

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Additional Damiao Command/Register Reference

• Detailed Damiao command + register tuning doc (English): DAMIAO_API.md
• Chinese version (command/register reference): DAMIAO_API.zh-CN.md

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Additional RobStride Command/Parameter Reference

• Detailed RobStride command + parameter guide (English): ROBSTRIDE_API.md
• Chinese version (parameter/capability reference): ROBSTRIDE_API.zh-CN.md

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Additional MyActuator Command/Mode Reference

• Detailed MyActuator command + mode guide (English): MYACTUATOR_API.md
• Chinese version (command/mode reference): MYACTUATOR_API.zh-CN.md

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HighTorque Notes

• Protocol analysis (Chinese): ../docs/zh/hightorque_protocol_analysis.md
• Current vendor=hightorque is a native ht_can v1.5.5 direct-CAN mode, not the official serial-CANboard transport.

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CAN Debugging Entry

• Professional Linux slcan + Windows pcan troubleshooting: ../docs/en/can_debugging.md
• Chinese troubleshooting guide: ../docs/zh/can_debugging.md

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Transport Legend

• [STD-CAN] => --transport auto|socketcan
• [CAN-FD] => --transport socketcanfd (Linux-only; required by Hexfellow)
• [DM-SERIAL] => --transport dm-serial (Damiao-only)

• Hexfellow: validated on socketcanfd with unified mit / pos-vel.
• HighTorque: validated on standard CAN with unified mit / vel (kp/kd ignored by protocol).
• Damiao: baseline implementation for unified mit / pos-vel / vel / force-pos.

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Validated Capability Matrix (Damiao + RobStride, 2026-04)

• RobStride default --feedback-id is 0xFD; scan defaults to --feedback-ids 0xFD,0xFF,0xFE,0x00,0xAA.
• RobStride feedback_id / host_id is not the motor device_id; scan reports the motor ID as probe / device_id.
• RobStride --model is still passed for limits and logging, while current parameter read/write uses the common section 4 runtime table.
• RobStride pos-vel ignores --vel/--kd/--tau by design (warning only, no hard error).

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1. Argument Parsing Rules

• Only --key value style options are parsed.
• A bare mode word, for example motor_cli scan --vendor robstride ..., is accepted as shorthand for --mode scan.
• A standalone flag (for example --help) is treated as value 1.
• Numeric IDs accept decimal (20) and hex (0x14).
• Unknown keys are parsed but ignored unless used by code paths.

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2. Top-Level Arguments (All Vendors)

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2.1 Channel Quick Reference (--channel)

• Linux SocketCAN:
  • Use interface names directly: can0, can1, slcan0.
  • Configure bitrate at interface setup time (ip link / slcand), not in --channel.
  • can0@1000000 is invalid on Linux SocketCAN.
• Windows PCAN:
  • can0 maps to PCAN_USBBUS1, can1 maps to PCAN_USBBUS2.
  • Optional bitrate suffix is supported: can0@1000000.
• macOS PCBUSB (PCAN backend):
  • can0 maps to PCAN_USBBUS1, can1 maps to PCAN_USBBUS2.
  • Install libPCBUSB.dylib first (see root README.md macOS section).

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2.2 Damiao Serial-Bridge Quick Reference (--transport dm-serial)

• This path is adapter-specific and intended for Damiao motors.
• Typical flags: --transport dm-serial --serial-port /dev/ttyACM1 --serial-baud 921600.
• In dm-serial mode, --channel is ignored by transport creation.

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2.3 Damiao Dedicated CAN-FD Quick Reference (--transport socketcanfd)

• This path is Linux-only and independent from classic SocketCAN transport.
• Hexfellow must use this path (--vendor hexfellow --transport socketcanfd).
• Typical flags: --transport socketcanfd --channel can0.
• Ensure the interface is in FD mode first (scripts/canfd_restart.sh can0).
• Current status: Hexfellow validated; Damiao CAN-FD matrix can be validated per model.

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3. Vendor = damiao

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3.1 Supported Modes

• scan
• enable
• disable
• mit
• pos-vel
• vel
• force-pos

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3.2 Damiao Extra Arguments

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3.3 Control Arguments by Mode

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3.4 Scan Behavior Details

• The scanner is model-agnostic in practice: it internally tries a built-in model-hint list.
• For each candidate ID, it also tries multiple feedback-ID hints: inferred (id+0x10), user --feedback-id, 0x11, 0x17.
• Detection first attempts register reads (RID 21/22/23), then feedback fallback.

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3.5 Damiao Examples

# Scan a range
motor_cli \
  --vendor damiao --channel can0 --mode scan --start-id 1 --end-id 16
# [STD-CAN]

# MIT control
motor_cli \
  --vendor damiao --channel can0 --model 4310 --motor-id 0x04 --feedback-id 0x14 \
  --mode mit --pos 1.57 --vel 2.0 --kp 35 --kd 1.2 --tau 0.3 --loop 120 --dt-ms 20
# [STD-CAN]

# MIT control via Damiao serial bridge
motor_cli \
  --vendor damiao --transport dm-serial --serial-port /dev/ttyACM1 --serial-baud 921600 \
  --model 4310 --motor-id 0x04 --feedback-id 0x14 \
  --mode mit --verify-model 0 --ensure-mode 0 \
  --pos 1.0 --vel 0 --kp 2 --kd 1 --tau 0 --loop 80 --dt-ms 20
# [DM-SERIAL]

# Position-velocity control
motor_cli \
  --vendor damiao --channel can0 --model 4310 --motor-id 0x04 --feedback-id 0x14 \
  --mode pos-vel --pos 3.14 --vlim 4.0 --loop 120 --dt-ms 20
# [STD-CAN]

# Update ID and persist
motor_cli \
  --vendor damiao --channel can0 --model 4310 --motor-id 0x01 --feedback-id 0x11 \
  --set-motor-id 0x04 --set-feedback-id 0x14 --store 1 --verify-id 1

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4. Vendor = robstride

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4.1 Supported Modes

• ping
• scan
• enable
• disable
• mit
• pos-vel
• vel
• read-param
• write-param
• save

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4.2 RobStride Extra Arguments

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4.3 Control Arguments by Mode

• RobStride unified control currently supports MIT / POS_VEL / VEL.
• Supported RobStride models are rs-00, rs-01, rs-02, rs-03, rs-04, rs-05, and rs-06.
• Always pass the real motor model. Basic control command shape is shared, but native function-code parameters differ by model; a parameter ID may have a different name or type on a different RS model.
• The built-in RS00-RS06 parameter tables are aligned with RobStride/Product_Information commit ba7236bc26417766fda71e75ae128c66dbd21aba.
• Torque/current is currently parameter-level only (via write-param, for example iq_ref and limit registers), not a first-class high-level mode.
• In RobStride mit, all five unified inputs are effective: --pos, --vel, --kp, --kd, --tau.
• RobStride mit units follow unified semantics: pos in rad, vel in rad/s, tau in Nm (kp/kd are MIT loop gains).
• In RobStride pos-vel, only --pos, --vlim, and optional --kp/--loc-kp are consumed.
• In RobStride pos-vel, --vel, --kd, and --tau are ignored (CLI prints a warning if provided).

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4.4 Scan Behavior Details

• Fast pass: ping + query-parameter probe per ID.
• If no hits in full range: fallback to blind velocity pulses for manual movement observation.
• Fallback hit criteria includes state feedback presence.

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4.5 RobStride Examples

# Ping
motor_cli \
  --vendor robstride --channel can0 --model rs-06 --motor-id 20 --feedback-id 0xFD --mode ping

# Scan
motor_cli \
  --vendor robstride --channel can0 --model rs-06 --mode scan --start-id 1 --end-id 255

# MIT control
motor_cli \
  --vendor robstride --channel can0 --model rs-00 --motor-id 2 --feedback-id 0xFD \
  --mode mit --ensure-mode 1 \
  --pos 0.5 --vel 0 --kp 20.0 --kd 0.5 --tau 0 \
  --loop 100 --dt-ms 20

# POS_VEL (mapped to native Position)
motor_cli \
  --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

# Velocity mode
motor_cli \
  --vendor robstride --channel can0 --model rs-06 --motor-id 20 --feedback-id 0xFD \
  --mode vel --vel 2.0 --loop 100 --dt-ms 20

# Read parameter
motor_cli \
  --vendor robstride --channel can0 --model rs-06 --motor-id 20 --feedback-id 0xFD \
  --mode read-param --param-id 0x7005

# Write parameter
motor_cli \
  --vendor robstride --channel can0 --model rs-06 --motor-id 20 --feedback-id 0xFD \
  --mode write-param --param-id 0x7005 --param-value 2 --store 1

# Set motor ID (old 1 -> new 11) and persist
motor_cli \
  --vendor robstride --channel can0 --model rs-06 --motor-id 1 --feedback-id 0xFD \
  --set-motor-id 11 --store 1

# Python CLI equivalent for RobStride ID update
motorbridge-cli id-set \
  --vendor robstride --channel can0 --model rs-06 \
  --motor-id 1 --feedback-id 0xFD --new-motor-id 11 --store 1 --verify 1

# Zero (experimental sequence)
motor_cli \
  --vendor robstride --channel can0 --model rs-06 --motor-id 11 --feedback-id 0xFD \
  --mode zero --zero-exp 1 --store 1

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5. Vendor = all

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5.1 Additional Arguments for all-scan

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5.2 Example

motor_cli \
  --vendor all --channel can0 --mode scan --start-id 1 --end-id 255

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5.3 Vendor = hightorque (native ht_can v1.5.5)

• This path uses native HighTorque ht_can v1.5.5 direct-CAN protocol.
• It is intended for setups where motors are exposed directly on SocketCAN (can0 etc.).
• Official Panthera/HighTorque SDK serial chain (USB serial -> CANboard -> motors) is separate from this CLI direct-CAN path.
• Supported modes: scan | read | ping | mit | pos | vel | tqe | pos-vel-tqe | volt | cur | stop | brake | rezero | conf-write | timed-read.
• Unified unit interface:
  • --pos in rad
  • --vel in rad/s
  • --tau in Nm
  • --kp, --kd are accepted for MIT signature compatibility but ignored by ht_can.
  • Raw debug parameters: --raw-pos, --raw-vel, --raw-tqe.

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6. Vendor = myactuator

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6.1 Supported Modes

• scan
• enable
• disable
• stop
• set-zero
• status
• current
• vel
• pos
• version
• mode-query

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6.2 MyActuator Extra Arguments

• angle comes from 0x9C status-2 near-turn angle.
• mt_angle comes from 0x92 multi-turn angle and should be used for absolute-position judgement.

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6.3 MyActuator Examples

# Scan IDs in MyActuator range
motor_cli \
  --vendor myactuator --channel can0 --mode scan --start-id 1 --end-id 32

# Query status repeatedly
motor_cli \
  --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode status --loop 40 --dt-ms 50

# Velocity control
motor_cli \
  --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode vel --vel 0.5236 --loop 100 --dt-ms 20

# Absolute position control
motor_cli \
  --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode pos --pos 3.1416 --max-speed 5.236 --loop 1

# Set current position as zero (persistent after power-cycle)
motor_cli \
  --vendor myactuator --channel can0 --model X8 --motor-id 1 --feedback-id 0x241 \
  --mode set-zero --loop 1

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7. Vendor = hexfellow

• Hexfellow is CAN-FD-only in this repository (--transport socketcanfd).
• Current support scope: scan / status / pos-vel / mit / enable / disable.
• Current status: transport integrated; model validation matrix pending.

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7.1 Hexfellow Examples

# Scan IDs
motor_cli \
  --vendor hexfellow --transport socketcanfd --channel can0 \
  --mode scan --start-id 1 --end-id 32

# Status query
motor_cli \
  --vendor hexfellow --transport socketcanfd --channel can0 \
  --model hexfellow --motor-id 1 --feedback-id 0 \
  --mode status

# Position-velocity (pos in rad, vlim in rad/s)
motor_cli \
  --vendor hexfellow --transport socketcanfd --channel can0 \
  --model hexfellow --motor-id 1 --feedback-id 0 \
  --mode pos-vel --pos 3.1415926 --vlim 2.0

# MIT (pos/vel in rad / rad/s)
motor_cli \
  --vendor hexfellow --transport socketcanfd --channel can0 \
  --model hexfellow --motor-id 1 --feedback-id 0 \
  --mode mit --pos 0.0 --vel 0.0 --kp 1000 --kd 100 --tau 0

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8. Practical Notes

• For Damiao ID updates, prefer keeping --store 1 --verify-id 1.
• If scan intermittently misses motors, retry after CAN restart.
• RobStride supports CLI --mode pos-vel (mapped to native Position); in this mode use --pos/--vlim/[--kp|--loc-kp].
• MyActuator low-voltage protection returns error code 0x0004 in status-1 (0x9A) and blocks motion.