motor.dump-config

Read every configuration parameter from one or all motors and save a snapshot.

Reads every configuration parameter from one motor (or all motors on the bus when --id is omitted) and prints them, optionally saving a JSON snapshot. Works for both motor families — MyActuator’s 0xC0 parameters and Damiao’s 0x7FF registers — with the type inferred from the CAN ID. This is the first thing to capture when a motor is misbehaving: the saved snapshot is exactly what motor.restore-config consumes to return the motor to a known-good state.

Flag	Description
--l / --r	Select the left or right side (mutually exclusive, required)
--target {axol,mantis}	Use that side’s Axol arm or Mantis gripper bus (default: axol)
--channel IFACE	Override the selected hardware’s default SocketCAN interface (e.g. can0)
--id ID	Motor CAN ID, hex or decimal. Omit to dump IDs 1–8 on Axol or ID 8 on Mantis
--type {myactuator,damiao}	Motor type (inferred from the ID if omitted)
--out FILE	Write a JSON snapshot for motor.restore-config
--raw	Sweep raw parameter indices instead of the known table, to surface indices not yet named (MyActuator only — Damiao’s register table is complete)

Each parameter is printed with its value, unit, and an access tag: (read-only) for values the motor reports but won’t accept (firmware versions, measured winding constants) and (protected) for factory calibration and identity, CAN IDs, and baud rate. MyActuator parameters the motor’s firmware doesn’t implement (the 0x46–0x4A group, which only 2026042402 firmware has) are left out of the dump rather than reported with junk values. A --raw snapshot cannot be restored — its keys are bare indices with no known meaning — so it’s for identification only.

axol motor.dump-config --l --id 0x01              # one motor
axol motor.dump-config --l                        # every motor on the left bus
axol motor.dump-config --l --out arm-left.json    # save a snapshot to restore later
axol motor.dump-config --l --id 0x01 --raw        # sweep unnamed indices (MyActuator)
axol motor.dump-config --target mantis --l --out mantis-left.json

Attach the printed output (or the saved snapshot) to a support thread — it’s a complete picture of how a motor is configured, and restoring it later writes back only the parameters that actually differ.