> ## 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.

# HighTorque Vendor Notes

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

## 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

## 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