Code Overview

This section documents the library’s source layout and the APIs that interface with each other. The goal is to keep each layer as separate as possible — CAN framing, protocol encoding, and motor limits each live in their own headers.

Source layout

include/
├── AK_Series.hpp        # top-level public header
├── Exceptions.hpp       # shared exception types
├── IO.hpp               # CAN I/O (socket send/receive)
├── can/                 # raw CAN frame types
│   ├── frame.hpp        # base Frame
│   ├── MIT_frame.hpp
│   ├── Servo_frame.hpp
│   └── send.hpp
├── motors/
│   └── MotorLimits.hpp  # per-motor limit definitions
└── protocol/            # protocol encoding/decoding
    ├── Exceptions.hpp
    ├── MIT.hpp
    └── servo.hpp
src/
└── can/
    ├── MIT_frame.cpp
    └── Servo_frame.cpp

Layers

Layer	Where	What it does
CAN frames	include/can, src/can	Builds and converts raw can_frames
Protocol	include/protocol	Encodes/decodes Servo and MIT commands
Motors	include/motors	Per-motor limits and constraints