Protocol Overview

These guides distill the CubeMars AK Series manufacturer documentation into the pieces you need to write driver code. The full manufacturer manual lives in the repository under docs/ak-series-driver-manual-v1-0-18-for-ak-2-0-robotic-actuator.pdf.

There are two distinct control protocols the driver board can speak:

Mode	Summary
Servo Mode	Uses an extended 29-bit CAN ID encoding command + motor ID, with data in the payload
MIT Mode	Packs a single tightly-encoded CAN frame; strict send/reply behavior

See Contributing for the development workflow.