Updated the robot status part making a difference on the subclasses that changed, meaning Prismatic Joint and Dynamixel adding there the corresponding codes and make a difference in the example of the arm class.
@ -95,24 +95,36 @@ Parameters may be named with a suffix to help describe the unit type. For exampl
### The Robot Status
### The Robot Status
The Robot derives from the [Device class](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/device.py). It also encapsulates several other Devices:
The Robot derives from the [Device class](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/device.py) and we have subclasses that derives from this Device class such as the [Prismatic Joint](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/prismatic_joint.py) and the [Dynamixel XL460](https://github.com/hello-robot/stretch_body/blob/master/body/stretch_body/dynamixel_hello_XL430.py). It also encapsulates several other Devices:
All devices contain a Status dictionary. The Status contains the most recent sensor and state data of that device. For example, looking at the Arm class we see:
All devices contain a Status dictionary. The Status contains the most recent sensor and state data of that device. For example, looking at the Arm class we see:
```python
```python
class Arm(Device):
def __init__(self):
class Arm(PrismaticJoint):
def __init__(self,usb=None):
```
As we can see the arm class is part of the PrismaticJoint class but this is also part of the Device class as we can see here:
The Status dictionaries are automatically updated by a background thread of the Robot class at around 25Hz. The Status data can be accessed via the Robot class as below:
The Status dictionaries are automatically updated by a background thread of the Robot class at around 25Hz. The Status data can be accessed via the Robot class as below:
@ -189,4 +201,4 @@ robot.stop()
The Dynamixel servos do not use the Hello Robot communication protocol. As such, the head, wrist, and gripper will move immediately upon issuing a motion command.
The Dynamixel servos do not use the Hello Robot communication protocol. As such, the head, wrist, and gripper will move immediately upon issuing a motion command.
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<divalign="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>
<divalign="center"> All materials are Copyright 2022 by Hello Robot Inc. Hello Robot and Stretch are registered trademarks.</div>