Add LiDAR specification in AI Worker and unit control table in OMY.#95
Add LiDAR specification in AI Worker and unit control table in OMY.#95Eunsung-kespion wants to merge 2 commits intomainfrom
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Code Review
This pull request updates the documentation by adding LiDAR specifications for the AI Worker and introducing a detailed control table for OMY units. The OMY control table includes custom styling and a script for dynamic row highlighting. Feedback focuses on preventing memory leaks in the documentation's JavaScript by properly managing the MutationObserver, improving external references with hyperlinks for technical terms, and correcting an inconsistency between the control table data and its description regarding the Tool Status register's memory area and access permissions.
| const observer = new MutationObserver(scheduleAddAreaClasses) | ||
| observer.observe(document.body, { childList: true, subtree: true }) |
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The MutationObserver is attached to document.body without a mechanism to disconnect it. In a Single Page Application (SPA) environment like VitePress, navigating to this page multiple times will create multiple redundant observers, leading to memory leaks and unnecessary background processing. Consider storing the observer instance on the window object and disconnecting any existing instance before creating a new one.
| To read or write device data, the address of the corresponding data must be specified in the Instruction Packet. | ||
| For detailed information about Packets, please refer to DYNAMIXEL Protocol 2.0. | ||
| ::: info | ||
| Negative numbers follow the Two's complement rule. For detailed explanation of Two's complement, please refer to Wikipedia's Two's complement. |
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The reference to "Two's complement" is repetitive and lacks a hyperlink. Adding a link to the Wikipedia page would improve the documentation's utility for users unfamiliar with the concept.
| Negative numbers follow the Two's complement rule. For detailed explanation of Two's complement, please refer to Wikipedia's Two's complement. | |
| Negative numbers follow the Two's complement rule. For a detailed explanation, please refer to [Wikipedia's Two's complement](https://en.wikipedia.org/wiki/Two%27s_complement). |
| | 11 | 1 | EEPROM | Tool Baud Rate | RW | 3 | 0 ~ 10 | - | | ||
| | 12 | 1 | EEPROM | Tool Protocol Type | RW | 0 | 0 ~ 1 | - | | ||
| | 13 | 1 | EEPROM | Tool Protocol ID | RW | 1 | 0 ~ 252 | - | | ||
| | 14 | 1 | EEPROM | Tool Status | R | - | - | - | |
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There is an inconsistency between the control table and its description for Tool Status (Address 14). The table marks it as EEPROM and R (Read-only), but the description on line 487 states that "Writing 0 clears latched status," which implies it is writable (RW). Additionally, communication status registers typically reside in RAM rather than EEPROM to reflect real-time state and avoid flash wear.
| | 14 | 1 | EEPROM | Tool Status | R | - | - | - | | |
| | 14 | 1 | RAM | Tool Status | RW | 0 | - | - | |
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Summary
Added an LiDAR Specification section to the AI Worker hardware documentation, including dual LakiBeam 1.
Added and organized the OMY unit control table documentation for both BASE and END units.