RobStride API and Parameter 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: ROBSTRIDE_API.zh-CN.md

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1) Common Device Parameters

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2) motor_cli RobStride Modes

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

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2.1 Ping

motor_cli \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 --feedback-id 0xFD \
  --mode ping

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2.2 MIT

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

• Effective inputs: --pos, --vel, --kp, --kd, --tau (all are used).
• Units:
  • --pos: rad
  • --vel: rad/s
  • --tau: Nm
  • --kp, --kd: MIT loop gains

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2.3 Position (unified pos-vel mapping)

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

• Unified pos-vel maps to native RobStride Position path:
  • run_mode=1 (Position)
  • write 0x7017 (limit_spd) from --vlim
  • optional write 0x701E (loc_kp) from --loc-kp or --kp
  • write 0x7016 (loc_ref) from --pos
• --vel, --kd, and --tau do not belong to native Position mode and are ignored in --mode pos-vel.

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2.4 Velocity

motor_cli \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 --feedback-id 0xFD \
  --mode vel --vel 0.3 --loop 40 --dt-ms 50

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2.5 Two Usage Paths (Unified Wrapper / Native Params)

• Unified wrapper path (recommended for app-layer control):
  • --mode mit
  • --mode pos-vel (already mapped to native Position)
  • --mode vel
• Native path (debug/protocol-level verification):
  • --mode read-param --param-id ...
  • --mode write-param --param-id ... --param-value ... --store 1
  • --mode save for a direct save-parameters operation
  • Typical sequence: write run_mode(0x7005) first, then write target params (loc_ref/spd_ref, etc.)

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3) Scan and ID Update

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3.1 Scan

motor_cli \
  scan --vendor robstride --channel can0 --model rs-06 \
  --start-id 1 --end-id 255 \
  --feedback-ids 0xFD,0xFF,0xFE,0x00,0xAA

• Fast pass: ping + query-parameter probe.
• probe / device_id is the motor ID.
• feedback_id / host_id (for example 0xFD) is the host-side ID, not the motor ID.
• --feedback-ids is a comma-separated list of host IDs to try during scan.
• RobStride motor_id / device_id must be 1..255; feedback_id / host_id must be 0..255.
• During scan, each listed --feedback-ids entry is probed exactly; invalid host IDs are rejected instead of silently falling back.
• If no ping replies in full range, CLI auto-falls back to blind pulse probing:
  • --manual-vel (default 0.2)
  • --manual-ms (default 200)
  • --manual-gap-ms (default 200)

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3.2 Update Device ID

motor_cli \
  --vendor robstride --channel can0 --model rs-06 \
  --motor-id 127 --feedback-id 0xFD --set-motor-id 126 --store 1

motorbridge-cli id-set \
  --vendor robstride --channel can0 --model rs-06 \
  --motor-id 127 --feedback-id 0xFD \
  --new-motor-id 126 --store 1 --verify 1

• Set-ID frame uses comm_type=7.
• This changes the RobStride device_id only; it does not change feedback_id / host_id.
• --set-motor-id / --new-motor-id is validated as 1..255; out-of-range values are rejected instead of being truncated.
• Extended ID format in this command path is:
  • 0x07 [new_id] [host_id] [old_id]
  • example (old_id=1, new_id=11, host_id=0xFD): 0x070BFD01
• Data payload uses the latest ping UUID token when available (fallback to zeros if ping token is unavailable).

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4) Frequently Used Parameter IDs

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5) Parameter Read/Write

motor_cli \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 --feedback-id 0xFD \
  --mode read-param --param-id 0x7019

motor_cli \
  --vendor robstride --channel can0 --model rs-06 --motor-id 127 --feedback-id 0xFD \
  --mode write-param --param-id 0x700A --param-value 0.3 --store 1

from motorbridge import Controller

with Controller("can0") as ctrl:
    m = ctrl.add_robstride_motor(127, 0xFD, "rs-06")
    print(m.robstride_ping())
    print(m.robstride_get_param_f32(0x7019, 500))
    m.robstride_write_param_f32(0x700A, 0.3)
    m.close()

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6) Protocol Communication Coverage

• In use directly: 0(GET_DEVICE_ID), 1(OPERATION_CONTROL), 3(ENABLE), 4(DISABLE), 6(SET_ZERO_POSITION), 7(SET_DEVICE_ID), 17(READ_PARAMETER), 18(WRITE_PARAMETER), 22(SAVE_PARAMETERS)
• Receive/parse path: 2(OPERATION_STATUS), 21(FAULT_REPORT)
• Present in protocol constants but not yet first-class high-level APIs: 23(SET_BAUDRATE), 24(ACTIVE_REPORT), 25(SET_PROTOCOL)

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7) Gap Summary and Next Improvements

1. pos-vel parameter effectiveness can be inconsistent on some firmware:
   • --vlim (0x7017) and --kp/loc_kp (0x701E) may read back as written but show weak/no visible effect.
   • MIT path is currently more reliable.
2. RobStride zeroing now keeps the unified user-facing command and writes zero_sta(0x7029)=1 internally:
   • use the normal zero / set_zero_position() path;
   • use store_parameters / --store 1 when the -pi..pi startup range must survive power cycles.

1. Add semantic CLI mode for current/torque control (today still done via write-param, less ergonomic).
2. Add multi feedback-host candidate support in scan CLI.
3. Expose high-level APIs for SET_BAUDRATE / ACTIVE_REPORT / SET_PROTOCOL.
4. Decode and present FAULT_REPORT in dedicated structured output.

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8) WS Gateway JSON Examples

{"op":"set_target","vendor":"robstride","channel":"can0","model":"rs-06","motor_id":127,"feedback_id":253}
{"op":"robstride_ping","timeout_ms":200}
{"op":"robstride_read_param","param_id":28697,"type":"f32","timeout_ms":200}
{"op":"robstride_write_param","param_id":28682,"type":"f32","value":0.3,"verify":true}
{"op":"vel","vel":0.3,"continuous":true}
{"op":"mit","pos":0.0,"vel":0.0,"kp":0.5,"kd":0.2,"tau":0.0,"continuous":true}
{"op":"scan","vendor":"robstride","start_id":1,"end_id":255,"feedback_ids":"0xFD,0xFF,0xFE","timeout_ms":120}

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9) Safety Notes

• Start with small velocity and short loop count.
• Confirm CAN wiring/termination and interface state before stress tests.
• Prefer ping/read-param verification before long periodic control.
• Keep emergency stop path available.