# Operation

How a calibrated driver is used: the control modes and what each one does, the two ways to talk to the driver and
the two tools on top of them, what happens when something goes wrong, and gripper mode.

## In this chapter

- [Control modes](https://docs.source-robotics.com/STEPFOC-docs/108/06-operation/modes/)
- [Over UART](https://docs.source-robotics.com/STEPFOC-docs/108/06-operation/uart/)
- [Over CAN](https://docs.source-robotics.com/STEPFOC-docs/108/06-operation/can/)
- [With Python](https://docs.source-robotics.com/STEPFOC-docs/108/06-operation/python/)
- [Working in Motor GUI](https://docs.source-robotics.com/STEPFOC-docs/108/06-operation/motor-gui/)
- [Errors and recovery](https://docs.source-robotics.com/STEPFOC-docs/108/06-operation/errors/)
- [Gripper mode](https://docs.source-robotics.com/STEPFOC-docs/108/06-operation/gripper-mode/)

The exact layout of every message and command is in the [API reference](https://docs.source-robotics.com/STEPFOC-docs/108/reference/).