from motorbridge import Controller

# 打开标准 CAN 接口
with Controller("can0") as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    # ... 控制电机

# 以 1M 波特率配置 CAN 接口
sudo ip link set can0 type can bitrate 1000000
sudo ip link set can0 up

# 增加 TX 队列以防止缓冲区溢出
sudo ifconfig can0 txqueuelen 1000

# 检查 PCBUSB 运行时是否可用
python3 -c "import ctypes; ctypes.CDLL('libPCBUSB.dylib'); print('PCBUSB load OK')"

# 在 can0 上做一次扫描验证
motorbridge-cli scan --vendor damiao --transport auto --channel can0 --start-id 1 --end-id 16

# 检查 PCAN 运行时是否可用
python -c "import ctypes; ctypes.CDLL('PCANBasic.dll'); print('PCANBasic load OK')"

# can0@1000000 对应 PCAN_USBBUS1
motorbridge-cli scan --vendor damiao --transport auto --channel can0@1000000 --start-id 1 --end-id 16

# 在不同的 CAN 总线上控制电机
with Controller("can0") as ctrl0:
    motor0 = ctrl0.add_damiao_motor(0x01, 0x11, "4340P")

with Controller("can1") as ctrl1:
    motor1 = ctrl1.add_robstride_motor(127, 0xFD, "rs-06")

from motorbridge import Controller

# 打开 CAN-FD 接口
with Controller.from_socketcanfd("can0") as ctrl:
    motor = ctrl.add_hexfellow_motor(0x01, 0x00, "hexfellow")
    # ... 控制电机

# 配置 CAN-FD 接口
sudo ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on
sudo ip link set can0 up

from motorbridge import Controller

# 打开串口桥
with Controller.from_dm_serial("/dev/ttyACM0", baud=921600) as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    # ... 控制电机

# 检查可用串口
ls -la /dev/ttyACM* /dev/ttyUSB*

# 添加用户到 dialout 组以获取权限
sudo usermod -a -G dialout $USER
# 注销并重新登录

# 常见串口设备名
ls -la /dev/cu.usbmodem* /dev/cu.usbserial*

# 列出 COM 端口
[System.IO.Ports.SerialPort]::GetPortNames()

from motorbridge import Controller

# 打开 DM-Device 传输
with Controller.from_dm_device("usb2canfd", dm_channel="0") as ctrl:
    motor = ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    # ... 控制电机

motorbridge-install-dm-device

您使用什么电机厂商？
│
├── Hexfellow ──→ from_socketcanfd（必需）
│
├── 带 USB2CANFD / USB2CANFD_DUAL / LINKX4C 的达妙 ──→ from_dm_device
│
├── 带有 USB-CAN 适配器的达妙 ──→ from_dm_serial
│
├── 带 CAN 卡的达妙 ──→ Controller（SocketCAN）
│
├── RobStride ──→ Controller（SocketCAN）
│
├── MyActuator ──→ Controller（SocketCAN）
│
└── HighTorque ──→ Controller（SocketCAN）

from motorbridge import Controller

# 每个厂商有自己的控制器
with Controller("can0") as dm_ctrl:
    dm_motor = dm_ctrl.add_damiao_motor(0x01, 0x11, "4340P")
    dm_ctrl.enable_all()

with Controller("can0") as rs_ctrl:
    rs_motor = rs_ctrl.add_robstride_motor(127, 0xFD, "rs-06")
    rs_ctrl.enable_all()

# 停止其他 CAN 发送者
# 增加 TX 队列
sudo ifconfig can0 txqueuelen 1000

# 增加控制循环周期
# dt_ms = 20 或更高

sudo usermod -a -G dialout $USER
# 注销并重新登录

# 确保接口上启用了 CAN-FD
sudo ip link set can0 type can bitrate 1000000 dbitrate 5000000 fd on
sudo ip link set can0 up