Web GUI¶

The damiao gui command provides a web-based interface to connect to the CAN bus, scan for DaMiao motors, run commands, view and edit registers, and plot position, velocity, and torque in real time.

DaMiao Motor Control – full interface

Installation¶

Install the package; the damiao command will be available in your PATH:

pip install damiao-motor

Starting the GUI¶

damiao gui

Open http://127.0.0.1:5000 in your browser.

Backward Compatibility

The damiao-gui command is still available as an alias for backward compatibility, but damiao gui is the recommended way to launch the GUI.

Command options¶

Option	Description
`--host`	Host (default: 127.0.0.1)
`--port`	Port (default: 5000)
`--debug`	Enable debug mode
`--production`	Use production server (requires `pip install waitress`)

Examples:

damiao gui --port 8080
damiao gui --host 0.0.0.0
damiao gui --production

Interface layout¶

The page is split into:

Top bar: Connection (CAN channel, Connect, Disconnect).
Left column: Motor Selection, Motor Control (Control Parameters + Motor Feedback), Register Parameters.
Right column: Chart Visualizations (Position, Velocity, Torque).

Connection¶

CAN Channel: Choose an interface (e.g. can0, vcan0). A refresh button reloads the list.
Connect: Connects to the selected channel.
Disconnect: Disconnects and clears detected motors.

A status log shows connection and scan progress (e.g. Connecting…, Connected to CAN bus: can0, Scanning for motors…, Found N motor(s), Registers loaded).

Connection bar – CAN channel, Connect, Disconnect, and status log

Motor Selection¶

Scan Motors: Scans for motors and lists those that respond.
Motor dropdown: Select a motor… when none is chosen; otherwise Motor ID: 0xXX | Arb ID: 0xYY for each detected motor. Selecting a motor updates the Control panel, Register Parameters, and charts.

Motor Selection – Scan Motors and motor dropdown (Motor ID | Arb ID)

Motor Control¶

When a motor is selected, the left column shows Control Parameters and Motor Feedback.

Control Parameters¶

Motor type: Choose the motor model (e.g. 4310, 4340, 6006, 8006, 8009, 10010/L, H3510, G6215, H6220, JH11, 6248P, 3507).
Control Mode: MIT, POS_VEL, VEL, FORCE_POS. Row visibility depends on mode: Position, Velocity, Stiffness, Damping, Torque for MIT; Vel Limit and Current Limit for FORCE_POS.
Enable / Disable: Enable or disable the motor.
Send Command: Applies the current control parameters. Single: once. Continuous: at the set Command Frequency (1–1000 Hz).
Stop Command: Stops Continuous mode and disables the motor.
Set Zero: Saves the current position as zero.
Clear Error: Clears the motor error.

Motor type dropdown – supported motor models (4310, 4340, 6006, …)

Motor Feedback¶

Status (e.g. ENABLED, DISABLED) and live Position, Velocity, Torque, MOS Temp, Rotor Temp for the selected motor.

Motor Control – Control Parameters (mode, position, velocity, Kp/Kd, torque, Enable/Disable, Send Command, Single/Continuous, Set Zero, Clear Error) and Motor Feedback

Register Parameters¶

Table: Description, Value, Type, Action. Read-only (RO) registers have no Edit. Writable (RW) registers: click Edit, change the value, then Save or Cancel.
Special UIs: Feedback ID and Motor ID use hex input; Control mode and CAN baud rate use dropdowns. Changing Feedback ID or Motor ID triggers a rescan so the motor list stays correct.

Register Parameters – Description, Value, Type, Action; Edit with Save/Cancel for RW registers

Chart Visualizations¶

Three line charts: Position (rad), Velocity (rad/s), Torque (Nm). Live data when a motor is selected (and when sending commands in Continuous mode).

For each chart:

Export Data: Save the visible data as CSV.
Grid: Toggle grid on/off.
Duration (s): Time window on the X-axis.
Y Min / Y Max: Set Y-axis limits, or "Auto".
Reset Limits: Restore Y-axis to the motor’s limits or auto.
Points: Toggle data points.

Charts support zoom (scroll or pinch). Each chart shows live data over the set time window.

Chart Visualizations – Position (rad), Velocity (rad/s), Torque (Nm) with Export Data, Grid, Duration, Y limits, Reset Limits, Points

Export Chart Data¶

Clicking Export Data on a chart opens a modal: enter a file name and Save to download a CSV of the chart’s visible data. The file is saved to your default download folder.

Export Chart Data – file name, Save to CSV, Cancel

Register editing (details)¶

RO: Shown in gray; no Edit button.
RW: Click Edit, change the value (or choose from the dropdown for Control mode and CAN baud rate), then Save or Cancel. Changing Feedback ID or Motor ID triggers a rescan so the motor list stays correct.

Safety notes¶

Safety First

Verify CAN interface and motor wiring before Connect.
Ensure the motor is securely mounted and the area is clear before Enable and Continuous commands.
Always verify register values before writing; some changes take effect immediately.
Changing Motor ID or Feedback ID changes how the motor is identified; the GUI rescans automatically.
Test register and command changes in a safe environment before production use.