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HighTorque vendor crate aligned with the same module layout used by other vendors.

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Layout

  • src/controller.rs: bus lifecycle and motor factory (HightorqueController)
  • src/motor.rs: control and state APIs (HightorqueMotor)
  • src/protocol.rs: frame decode and unit conversion helpers
  • src/lib.rs: module wiring and public re-exports

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Notes

  • Current HighTorque path is direct CAN native flow (ht_can style frames).
  • Unified API compatibility:
    • supported: mit, pos_vel, vel, force_pos
    • pos_vel and force_pos map to native pos+vel+tqe