Temperature Reading

Use hand.temperature to read the temperature of the 16 L20 joint motors in °C.

Temperature fields

Read Temperature

Blocking Read

from realhand.exceptions import TimeoutError

try:
    data = hand.temperature.get_blocking(timeout_ms=500)
    print(f"Thumb abduction temperature: {data.temperatures.thumb_abd}°C")
except TimeoutError:
    print("Read timed out")

Parameter

• timeout_ms: Timeout in milliseconds, default 100

Return value

• TemperatureData: Contains temperatures (L20Temperature) and timestamp

Exception

• TimeoutError: No response before timeout

Cached Read

Read the most recent cached temperature data without blocking.

data = hand.temperature.get_snapshot()
if data:
    print(f"Temperature: {data.temperatures.to_list()}")

Return value

• TemperatureData or None if no cached data is available

Streaming Read

Receive all sensor events through the top-level hand.stream() interface:

from realhand.hand.l20 import SensorSource, TemperatureEvent

hand.start_polling({SensorSource.TEMPERATURE: 0.1})

try:
    for event in hand.stream():
        match event:
            case TemperatureEvent(data=data):
                print(f"Temperature: {data.temperatures.to_list()}")
finally:
    hand.stop_polling()
    hand.stop_stream()

Examples

Read All Joint Temperatures

from realhand import L20

with L20(side="left", interface_name="can0") as hand:
    data = hand.temperature.get_blocking(timeout_ms=500)

    # Access by field
    print(f"Thumb abduction: {data.temperatures.thumb_abd}°C")
    print(f"Index abduction: {data.temperatures.index_abd}°C")

    # Convert to list
    temps = data.temperatures.to_list()
    print(f"All temperatures: {temps}")

    # Index access
    print(f"First joint motor: {data.temperatures[0]}°C")

Temperature Monitoring

from realhand import L20
from realhand.hand.l20 import SensorSource, TemperatureEvent

with L20(side="left", interface_name="can0") as hand:
    hand.start_polling({SensorSource.TEMPERATURE: 0.1})

    try:
        for event in hand.stream():
            match event:
                case TemperatureEvent(data=data):
                    for i, temp in enumerate(data.temperatures.to_list()):
                        if temp > 60.0:
                            print(f"Warning: joint motor {i} is overheating ({temp}°C)")
    except KeyboardInterrupt:
        pass
    finally:
        hand.stop_polling()
        hand.stop_stream()