Controller 控制器

from motorbridge import Controller

class Controller:
    def __init__(self, channel: str = "can0") -> None: ...
    def __enter__(self) -> Controller: ...
    def __exit__(self, exc_type, exc, tb) -> None: ...

from motorbridge import Controller

# 基本用法
ctrl = Controller("can0")

# 使用上下文管理器（推荐）
with Controller("can0") as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")

from motorbridge import Controller

with Controller.from_socketcanfd("can0") as ctrl:
    motor = ctrl.add_hexfellow_motor(0x01, 0x00, "hexfellow")

from motorbridge import Controller

with Controller.from_dm_serial("/dev/ttyACM0", 921600) as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")

from motorbridge import Controller

with Controller.from_dm_device("usb2canfd", dm_channel="0") as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")

import motorbridge

motorbridge.abi_version()         # -> 版本字符串
motorbridge.abi_capabilities()    # -> 能力字典

with Controller("can0") as ctrl:
    m1 = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    m2 = ctrl.add_damiao_motor(0x02, 0x12, "4340P")
    ctrl.enable_all()  # 使能两个电机

with Controller("can0") as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    ctrl.enable_all()
    # ... 使用电机
# 此处自动清理资源

from motorbridge import Controller
from motorbridge.errors import CallError, AbiLoadError, MotorBridgeError

try:
    with Controller("can0") as ctrl:
        motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
except AbiLoadError:
    print("加载 ABI 库失败")
except CallError as e:
    print(f"API 调用失败: {e}")
except MotorBridgeError as e:
    print(f"电机桥错误: {e}")