The first public version of moteus-r4 was announced way back in 2019. Since that time, there have been many new board variants and innumerable additional features and capabilities. Amazingly, through all of that, the CAN-FD wire protocol has actually remained backwards compatible the entire time! It is still possible to monitor that very first moteus with tview, and to command it using the register protocol with appropriate configuration. Many projects hem and haw about releasing a version 1.0 of their software, justifying breaking things from a users perspective over and over again. Here, we’ve actually maintained nearly complete backwards compatibility despite having a pure time based release versioning scheme.