Add temperature tracking (MOS and rotor) to motor state#14
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avoiding abbreviation Co-authored-by: Sutou Kouhei <kou@cozmixng.org>
avoiding abbreviation Co-authored-by: Sutou Kouhei <kou@cozmixng.org>
Co-authored-by: Sutou Kouhei <kou@cozmixng.org>
…for temperature tests per review
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Switched the temperature assertions to temps.tolist() == [25] * 8 so the == list comparison works on the NumPy array |
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Co-authored-by: Sutou Kouhei <kou@cozmixng.org>
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…rray (#17) Exposes per-motor temperature in the `request_state` → `state` output. The `openarm_driver.fetch_state()` call already returns MOS and rotor temperatures (added in openarm_driver enactic/openarm_driver#14), but the node was dropping them. This PR surfaces them so downstream nodes can monitor thermals. - Adds fields to an existing output without changing field order, so existing consumers reading `qpos`/`qvel`/`qtorque` by name are unaffected.
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This PR adds per-motor temperature readings to the driver's state. Each motor now reports both its MOSFET (tmos) and rotor (trotor) temperatures, enabling thermal monitoring during operation.
Changes:
update_state() now reads get_state_tmos() and get_state_trotor() from each motor and stores them in latest_state as tmos / trotor arrays (dtype int).
Added two convenience accessors:
fetch_mos_temperature(refresh=True) — MOS temperature per motor
fetch_rotor_temperature(refresh=True) — rotor temperature per motor
Extended the test MotorStub in tests/test_driver.py with temperature getters and added test_fetch_mos_temperature / test_fetch_rotor_temperature.