Commit c2c2007a authored by Kyle Sunden's avatar Kyle Sunden

Merge branch '303' into 'master'

YEP-303: has-limits

See merge request !40
parents 15472652 7f8c3284
Pipeline #166580546 canceled with stage
yep: 303
title: has-limits
author: Blaise Thompson
status: draft
author: Blaise Thompson <>
status: accepted
tags: trait
post-history: 2020-04-22
This YEP is a stub.
# Abstract
This YEP defines the has-limits trait.
This trait has been accepted.
See built documentation at at [](
# Table of Contents
# Motivation
A subset of positional hardware has exactly two limits.
This trait standardies the interface to such hardware.
This trait requires has-position, see [YEP-301](
# Proposal
## config: limits
type: array
default: [-inf, inf]
Configuration limits are strictly optional.
## config: out_of_limits
type: enum
default: closest
Control behavior of daemon when set_position is given a value outside of limits.
## state: hw_limits
type: array
## message: get_limits
response: {'type': 'array', 'items': 'float'}
Get daemon limits.Limits will be the intersection of config limits and driver limits (when appliciable).
## messages: in_limits
parameters: position: float
response: boolean
Check if a given position is within daemon limits.
# Discussion
Discussion can be found on the [gitlab issue]( for this YEP.
# Copyright
This document is placed in the public domain or under the CC0-1.0-Universal license, whichever is more permissive.
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