good_device.yaml

name: tm
remote_attributes:
  - name: sn
    dtype: uint32
    getter_name: system_get_sn
    summary: Retrieve the unique device serial number.
  - name: nickname
    dtype: string
    getter_name: system_get_name
    setter_name: system_set_name 
    summary: Retrieve the device name
  - name: errors
    flags: [UNDERVOLTAGE]
    meta: {dynamic: True}
    getter_name: system_get_error
    summary: Retrieve any device errors.
    meta: {"lalala": "ok"}
  - name: Vbus
    dtype: float
    unit: volt
    meta: {dynamic: True}
    getter_name: system_get_vbus
    summary: Retrieve the bus voltage.
  - name: reset
    summary: Reset the device.
    caller_name: system_reset
    dtype: void
    arguments: []
    meta: {reload_data: True}
  - name: move_to
    summary: Move to
    caller_name: move_to
    dtype: void
    func_attr: TM_RAMFUNC
    arguments: 
      - name: position
        dtype: float
        unit: tick
  - name: controller
    remote_attributes:
      - name: set_pos_vel_setpoints
        summary: Set position and velocity setpoints.
        caller_name: set_position_velocity_setpoints
        dtype: float
        unit: ticks
        arguments:
          - name: pos_setpoint
            dtype: float
          - name: vel_setpoint
            dtype: float
      - name: mode
        summary: Control mode
        getter_name: controller_get_mode
        setter_name: controller_set_mode
        options: [IDLE, CLOSED_LOOP]
  - name: motor
    remote_attributes:
      - name: R
        dtype: float
        unit: ohm
        getter_name: motor_get_R
        setter_name: motor_set_R
        meta: {export: True}
        summary: Access the motor Resistance value.
      - name: L
        dtype: float
        unit: henry
        getter_name: motor_get_L
        setter_name: motor_set_L
        meta: {export: True}
        summary: Access the motor Inductance value.
      - name: errors
        flags: [R_OUT_OF_RANGE, L_OUT_OF_RANGE, INVALID_POLE_PAIRS]
        getter_name: system_get_error
        summary: Retrieve any motor errors.
  - name: encoder
    remote_attributes:
      - name: position_estimate
        dtype: float
        unit: ticks
        meta: {dynamic: True}
        getter_name: encoder_get_pos_estimate
        summary: Retrieve the encoder position estimate.
        func_attr: TM_RAMFUNC
      - name: bandwidth
        dtype: float
        unit: rad/s
        meta: {export: True}
        getter_name: encoder_get_bandwidth
        setter_name: encoder_set_bandwidth
        summary: Access the encoder observer bandwidth.
        func_attr: TM_RAMFUNC