# Scan all vendors on can0
motorbridge-cli scan --vendor all --channel can0 --start-id 1 --end-id 255

command=scan vendor=all transport=auto channel=can0 model=4340 id_range=[0x1,0xFF] timeout_ms=80

[scan:damiao] channel=can0 model=4340 id_range=[0x1,0x20] timeout_ms=80
[hit] vendor=damiao probe=0x01 esc_id=0x1 mst_id=0x11
[hit] vendor=damiao probe=0x02 esc_id=0x2 mst_id=0x12
[.. ] vendor=damiao probe=0x03 no reply

[scan:myactuator] channel=can0 model=X8 id_range=[0x1,0x20] timeout_ms=80
[hit] probe=0x01 vendor=myactuator feedback_id=0x241 temp=32.5C vel=+0.000rad/s angle=+0.125rad

scan done: 3 motor(s) found
  probe=0x01 vendor=damiao esc_id=0x1 mst_id=0x11
  probe=0x02 vendor=damiao esc_id=0x2 mst_id=0x12
  probe=0x01 vendor=myactuator feedback_id=0x241 temp=32.5C vel=+0.000rad/s angle=+0.125rad

motorbridge-cli scan \
    --vendor damiao \
    --channel can0 \
    --start-id 0x01 \
    --end-id 0x20 \
    --feedback-base 0x10

motorbridge-cli scan \
    --vendor robstride \
    --channel can0 \
    --start-id 1 \
    --end-id 127 \
    --feedback-ids 0xFD,0xFF,0xFE,0x00,0xAA

motorbridge-cli scan \
    --vendor myactuator \
    --channel can0 \
    --start-id 1 \
    --end-id 32

motorbridge-cli scan \
    --vendor hightorque \
    --channel can0 \
    --start-id 1 \
    --end-id 127

motorbridge-cli scan \
    --vendor damiao \
    --transport dm-serial \
    --serial-port /dev/ttyACM0 \
    --serial-baud 921600 \
    --start-id 1 \
    --end-id 32

import time
from motorbridge import Controller

def scan_damiao(channel: str, start_id: int, end_id: int) -> list[dict]:
    """Scan for Damiao motors and return list of discovered motors."""
    found = []

    for motor_id in range(start_id, end_id + 1):
        # Calculate expected feedback_id
        feedback_id = 0x10 + (motor_id & 0x0F)

        ctrl = Controller(channel)
        try:
            motor = ctrl.add_damiao_motor(motor_id, feedback_id, "4340P")
            try:
                # Try to read ESC_ID register
                esc_id = motor.get_register_u32(8, timeout_ms=100)
                mst_id = motor.get_register_u32(7, timeout_ms=100)

                found.append({
                    "motor_id": motor_id,
                    "feedback_id": feedback_id,
                    "esc_id": esc_id,
                    "mst_id": mst_id
                })
                print(f"[hit] motor_id=0x{motor_id:02X} esc=0x{esc_id:X} mst=0x{mst_id:X}")

            except Exception:
                print(f"[.. ] motor_id=0x{motor_id:02X} no reply")
            finally:
                motor.close()
        except Exception as e:
            print(f"[err] motor_id=0x{motor_id:02X} {e}")
        finally:
            ctrl.close_bus()
            ctrl.close()

    return found

# Run scan
motors = scan_damiao("can0", 1, 20)
print(f"\nFound {len(motors)} motor(s)")
for m in motors:
    print(f"  motor_id=0x{m['motor_id']:02X} feedback_id=0x{m['feedback_id']:02X}")

[hit] vendor=damiao probe=0x01 esc_id=0x1 mst_id=0x11

[hit] probe=0x01 vendor=myactuator feedback_id=0x241 temp=32.5C vel=+0.000rad/s angle=+0.125rad

[hit] probe=0x7F vendor=robstride via=ping feedback_id=0xFD device_id=127 responder_id=254

motorbridge-cli scan --vendor damiao --timeout-ms 200

# Power on motors one at a time
# Use id-set to change IDs
motorbridge-cli id-set --motor-id 0x01 --new-motor-id 0x02 --store 1

# motors.py - Generated from scan
MOTOR_CONFIG = {
    "front_left_hip": {
        "vendor": "damiao",
        "model": "4340P",
        "motor_id": 0x01,
        "feedback_id": 0x11,
    },
    "front_left_knee": {
        "vendor": "damiao",
        "model": "4340P",
        "motor_id": 0x02,
        "feedback_id": 0x12,
    },
    # ... more motors
}