CLI Tool Reference

The damiao command-line tool provides a unified interface for scanning, configuring, and controlling DaMiao motors.

Getting Help

To see all available commands:

damiao --help

To get help for a specific command:

damiao <command> --help

Commands

scan

Scan for connected motors on the CAN bus.

damiao scan [OPTIONS]

Options:

Option	Type	Description
--ids	ID [ID ...]	Motor IDs to test (e.g., --ids 1 2 3). If not specified, tests IDs 0x01-0x10.
--duration	FLOAT	Duration to listen for responses in seconds (default: 0.5)
--debug	flag	Print all raw CAN messages for debugging
--channel	STR	CAN channel (default: can0)
--bustype	STR	CAN bus type (default: socketcan)
--bitrate	INT	CAN bitrate in bits per second (default: 1000000)

Examples:

# Scan default ID range (0x01-0x10) - motor-type is optional
damiao scan

# Scan specific motor IDs
damiao scan --ids 1 2 3

# Scan with longer listen duration
damiao scan --duration 2.0

# Scan with specific motor type (optional, defaults to 4310)
damiao scan --motor-type 4340

# Scan with debug output
damiao scan --debug

send-cmd-mit

Send MIT control mode command to motor. Loops continuously until Ctrl+C. See Motor Control Modes for details on MIT mode.

damiao send-cmd-mit [OPTIONS]

Options:

Option	Type	Description
--id	INT	Motor ID (required)
--position	FLOAT	Desired position (radians) (required)
--velocity	FLOAT	Desired velocity (rad/s) (required)
--stiffness	FLOAT	Stiffness (kp), range 0–500 (default: 0.0)
--damping	FLOAT	Damping (kd), range 0–5 (default: 0.0)
--feedforward-torque	FLOAT	Feedforward torque (default: 0.0)
--frequency	FLOAT	Command frequency in Hz (default: 100.0)
--channel	STR	CAN channel (default: can0)
--bustype	STR	CAN bus type (default: socketcan)
--bitrate	INT	CAN bitrate in bits per second (default: 1000000)

Examples:

# MIT mode with all parameters
damiao send-cmd-mit --id 1 --position 1.5 --velocity 0.0 --stiffness 3.0 --damping 0.5

# With custom frequency
damiao send-cmd-mit --id 1 --position 1.5 --velocity 0.0 --stiffness 3.0 --damping 0.5 --frequency 50.0

send-cmd-pos-vel

Send POS_VEL control mode command to motor. Loops continuously until Ctrl+C. See Motor Control Modes for details on POS_VEL mode.

damiao send-cmd-pos-vel [OPTIONS]

Options:

Option	Type	Description
--id	INT	Motor ID (required)
--position	FLOAT	Desired position (radians) (required)
--velocity	FLOAT	Desired velocity (rad/s) (required)
--frequency	FLOAT	Command frequency in Hz (default: 100.0)
--channel	STR	CAN channel (default: can0)
--bustype	STR	CAN bus type (default: socketcan)
--bitrate	INT	CAN bitrate in bits per second (default: 1000000)

Examples:

# POS_VEL mode
damiao send-cmd-pos-vel --id 1 --position 1.5 --velocity 2.0

# With custom frequency
damiao send-cmd-pos-vel --id 1 --position 1.5 --velocity 2.0 --frequency 50.0

send-cmd-vel

Send VEL control mode command to motor. Loops continuously until Ctrl+C. See Motor Control Modes for details on VEL mode.

damiao send-cmd-vel [OPTIONS]

Options:

Option	Type	Description
--id	INT	Motor ID (required)
--velocity	FLOAT	Desired velocity (rad/s) (required)
--frequency	FLOAT	Command frequency in Hz (default: 100.0)
--channel	STR	CAN channel (default: can0)
--bustype	STR	CAN bus type (default: socketcan)
--bitrate	INT	CAN bitrate in bits per second (default: 1000000)

Examples:

# VEL mode
damiao send-cmd-vel --id 1 --velocity 3.0

# With custom frequency
damiao send-cmd-vel --id 1 --velocity 3.0 --frequency 50.0

send-cmd-force-pos

Send FORCE_POS control mode command to motor. Loops continuously until Ctrl+C. See Motor Control Modes for details on FORCE_POS mode.

damiao send-cmd-force-pos [OPTIONS]

Options:

Option	Type	Description
--id	INT	Motor ID (required)
--position	FLOAT	Desired position (radians) (required)
--velocity-limit	FLOAT	Velocity limit (rad/s, 0-100) (required)
--current-limit	FLOAT	Torque current limit normalized (0.0-1.0) (required)
--frequency	FLOAT	Command frequency in Hz (default: 100.0)
--channel	STR	CAN channel (default: can0)
--bustype	STR	CAN bus type (default: socketcan)
--bitrate	INT	CAN bitrate in bits per second (default: 1000000)

Examples:

# FORCE_POS mode
damiao send-cmd-force-pos --id 1 --position 1.5 --velocity-limit 50.0 --current-limit 0.8

# With custom frequency
damiao send-cmd-force-pos --id 1 --position 1.5 --velocity-limit 50.0 --current-limit 0.8 --frequency 50.0

set-zero-command

Send zero command to a motor (pos=0, vel=0, torq=0, kp=0, kd=0). Loops continuously until Ctrl+C.

damiao set-zero-command [OPTIONS]

Options:

Option	Type	Description
--id	INT	Motor ID to send zero command to (required)
--frequency	FLOAT	Command frequency in Hz (default: 100.0)
--channel	STR	CAN channel (default: can0)
--bustype	STR	CAN bus type (default: socketcan)
--bitrate	INT	CAN bitrate in bits per second (default: 1000000)

Examples:

# Send zero command continuously
damiao set-zero-command --id 1

# With custom frequency
damiao set-zero-command --id 1 --frequency 50.0

set-zero-position

Set the current output shaft position to zero.

damiao set-zero-position [OPTIONS]

Options:

Option	Type	Description
--id	INT	Motor ID (required)
--channel	STR	CAN channel (default: can0)
--bustype	STR	CAN bus type (default: socketcan)
--bitrate	INT	CAN bitrate in bits per second (default: 1000000)

Examples:

# Set current position to zero
damiao set-zero-position --id 1

set-can-timeout

Set CAN timeout alarm time (register 9).

damiao set-can-timeout [OPTIONS]

Options:

Option	Type	Description
--id	INT	Motor ID (required)
--timeout	INT	Timeout in milliseconds (ms) (required)
--channel	STR	CAN channel (default: can0)
--bustype	STR	CAN bus type (default: socketcan)
--bitrate	INT	CAN bitrate in bits per second (default: 1000000)

Examples:

# Set CAN timeout to 1000 ms
damiao set-can-timeout --id 1 --timeout 1000

set-motor-id

Change the motor's receive ID (ESC_ID, register 8). This is the ID used to send commands to the motor.

damiao set-motor-id [OPTIONS]

Options:

Option	Type	Description
--current	INT	Current motor ID (to connect to the motor) (required)
--target	INT	Target motor ID (new receive ID) (required)
--channel	STR	CAN channel (default: can0)
--bustype	STR	CAN bus type (default: socketcan)
--bitrate	INT	CAN bitrate in bits per second (default: 1000000)

Examples:

# Change motor ID from 1 to 2
damiao set-motor-id --current 1 --target 2

Note

After changing the motor ID, you will need to use the new ID to communicate with the motor.

set-feedback-id

Change the motor's feedback ID (MST_ID, register 7). This is the ID used to identify feedback messages from the motor.

damiao set-feedback-id [OPTIONS]

Options:

Option	Type	Description
--current	INT	Current motor ID (to connect to the motor) (required)
--target	INT	Target feedback ID (new MST_ID) (required)
--channel	STR	CAN channel (default: can0)
--bustype	STR	CAN bus type (default: socketcan)
--bitrate	INT	CAN bitrate in bits per second (default: 1000000)

Examples:

# Change feedback ID to 3 (using motor ID 1 to connect)
damiao set-feedback-id --current 1 --target 3

Note

The motor will now respond with feedback using the new feedback ID.

gui

Launch the web-based GUI for viewing and controlling DaMiao motors.

damiao gui [OPTIONS]

Options:

Option	Type	Description
--host	STR	Host to bind to (default: 127.0.0.1)
--port	INT	Port to bind to (default: 5000)
--debug	flag	Enable debug mode
--production	flag	Use production WSGI server (requires waitress)

Examples:

# Start GUI on default host and port (http://127.0.0.1:5000)
damiao gui

# Start GUI on custom port
damiao gui --port 8080

# Start GUI on all interfaces
damiao gui --host 0.0.0.0

# Start GUI with production server
damiao gui --production

Backward Compatibility

Use damiao gui to launch the GUI.

Global Options

All commands support the following global options:

Option	Type	Description
--channel	STR	CAN channel (default: can0)
--bustype	STR	CAN bus type (default: socketcan)
--bitrate	INT	CAN bitrate in bits per second (default: 1000000). Only used when bringing up interface.

These options can be specified either before or after the subcommand:

damiao --channel can1 scan
damiao scan --channel can1

Real-time Feedback

All looping send commands (send-cmd-mit, send-cmd-pos-vel, send-cmd-vel, send-cmd-force-pos, set-zero-command) continuously print motor state information:

State: 1 (ENABLED) | Pos:   1.234 rad | Vel:   0.567 rad/s | Torq:   0.123 Nm | T_mos: 45.0°C | T_rotor: 50.0°C

The state information includes: - State: Status code and human-readable status name - Pos: Current position (radians) - Vel: Current velocity (rad/s) - Torq: Current torque (Nm) - T_mos: MOSFET temperature (°C) - T_rotor: Rotor temperature (°C)

Safety Notes

Safety First

• Always ensure motors are securely mounted before sending commands
• Start with zero commands or low values to verify motor response
• Monitor motor temperatures during operation
• Use Ctrl+C to stop looping commands immediately
• Test in a safe environment before production use