Guides
Protocol Overview
How the CubeMars AK Series driver protocols work over CAN.
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.