00 Enable and Status

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Goal

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Run

python3 bindings/python/get_started/courses/00-enable-and-status.py

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Key APIs

• ctrl.enable_all(): enable control output
• motor.request_feedback(): request one fresh feedback frame
• ctrl.poll_feedback_once(): manually advance feedback receive/parse once (kept for old-version compatibility)
• motor.get_state(): read the current state struct

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Version Notes (important)

• <= v0.1.6: keep poll_feedback_once(), otherwise state=None is more likely.
• v0.1.7+: background polling is enabled by default; manual poll_feedback_once() is usually unnecessary.
• This course keeps the call for backward compatibility.

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Why you sometimes see state=None

• get_state() only returns the latest received feedback.
• If no valid feedback frame has arrived yet, it returns None.
• The sample uses “retry + poll_feedback_once()” to reduce this (the poll is optional on new versions).