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XArmConfiguration no longer holds acceleration_level_default and current_limit_default; XArm.default_acceleration_level and default_current_limit are what initialize, move_to_x_position and move_x_relative fall back to. design.md says a default never lives on a configuration. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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Pipettes.move_to_x_position, Head.move_to_x_position and iSWAP.elbow_move_to_x_position no longer carry their own acceleration_level=3 and current_limit=7; they pass None through and the X-arm that holds them applies its defaults. Co-Authored-By: Claude Opus 5.5 <noreply@anthropic.com>
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XArmConfigurationholdsacceleration_level_defaultandcurrent_limit_default, whileXArm.move_to_x_positionandmove_x_relativehard-codeacceleration_level=3, current_limit=7and never read them. A configuration is facts about the device; a default is what the driver chooses to send, and P18 puts it on the feature - asHead96andCoreGrippersalready do.XArm.default_acceleration_level = 3andXArm.default_current_limit = 7;initialize,move_to_x_positionandmove_x_relativetakeNoneand fall back to themacceleration_level_defaultandcurrent_limit_defaultleaveXArmConfiguration,with_device_facts_ofand the five recordingsX0XIlw7,X0XPla…lr3lw7XArmto the features that follow itTests: x_arm_tests - both defaults set on the arm reach the wire (
X0XIlw5,X0XPla05000lr2lw5); the configuration tests that usedcurrent_limit_defaultas a device fact a caller sets useacceleration_level_range.🤖 Generated with Claude Code