# kcan
CAN controller primitives and CLI tools for actuator and motor control.
## Status
Published by Trevor Knott, Knott Dynamics.
Keywords: KCAN, CubeMars, RobStride, Scrin, Aisling, Trevor Knott, Knott Dynamics.
## Features
- MIT force-control frame packing for supported CubeMars AK actuators.
- CubeMars direct servo command builders.
- Feedback decoding, tuned specs for primary AK models, conservative defaults for other AK names, unit conversions, and safe velocity clamping.
- Generic `CanBus` trait for tests, embedded adapters, or Linux SocketCAN.
- Optional `serde` feature for serializable actuator configs, snapshots, commands, and feedback.
- Optional `socketcan` feature for direct Linux SocketCAN usage.
- Optional `tui` feature for a Scrin/Scrin Widgets actuator dashboard, wide actuator pane wall, read-only telemetry analytics, and safe control-intent model.
- Cross-family actuator snapshots with derived health labels and protocol-specific dashboard metrics.
- CAN monitor utilities for rolling frame logs, trace CSV export/replay, basic protocol classification, data formatting, and Scrin/Aisling TUI viewing.
- Standard `Display` output for CAN IDs and frames.
- `Display` and `FromStr` support for model names, direct modes, helper commands, and RobStride frame kinds.
- `kcan` command for model listing and frame generation.
## Quick Use
For a beginner cheat sheet, see `docs.md`.
Build a RobStride status query frame in Rust:
```rust
use kcan::{RobStrideModel, robstride_status_query_frame};
let model: RobStrideModel = "rs01".parse()?;
let frame = robstride_status_query_frame(0x01)?;
assert_eq!(model.to_string(), "RS-01");
assert_eq!(frame.id().raw(), 0x501);
# Ok::<(), kcan::Error>(())
```
Build a CubeMars MIT neutral frame in Rust:
```rust
use kcan::{MitCommand, MotorModel, mit_command_frame};
let frame = mit_command_frame(MotorModel::Ak60_6, 0x03, MitCommand::neutral())?;
assert_eq!(frame.id().raw(), 0x0803);
assert_eq!(frame.len(), 8);
# Ok::<(), kcan::Error>(())
```
Run the CLI help:
```sh
cargo run --bin kcan -- help
```
List supported models:
```sh
cargo run --bin kcan -- models
```
Build a CubeMars direct velocity frame:
```sh
cargo run --bin kcan -- cubemars direct 0x03 velocity 1000
```
Build a RobStride status query frame:
```sh
cargo run --bin kcan -- robstride status rs01 0x01
```
Enable SocketCAN support with:
```toml
kcan = { version = "0.1", features = ["socketcan"] }
```
Run the sample TUI dashboard with:
```sh
cargo run --example tui_dashboard --features tui
```
List supported CubeMars models and generated frame IDs with:
```sh
cargo run --example cubemars_models
```
Print hardware-free CubeMars direct frames:
```sh
cargo run --example cubemars_direct_frames
```
Print hardware-free RobStride frames:
```sh
cargo run --example robstride_frames
```
Run a simulated CAN monitor with:
```sh
cargo run --example can_monitor_demo --features tui
```
Run a live SocketCAN monitor with:
```sh
cargo run --example socketcan_monitor --features socketcan,tui -- can0
```
Run a live read-only actuator dashboard with CubeMars and RobStride targets:
```sh
cargo run --example socketcan_dashboard --features socketcan,tui -- can0 cubemars:ak60-6:0x03 robstride:rs01:0x01
```