From 25388d09475016a95f8a51478ee7413ec437e71f Mon Sep 17 00:00:00 2001
From: Simon Alibert <simon.alibert@huggingface.co>
Date: Sun, 23 Mar 2025 19:41:46 +0100
Subject: [PATCH] Add feetech operating modes

---
 lerobot/common/motors/feetech/__init__.py |  2 +-
 lerobot/common/motors/feetech/feetech.py  | 15 +++++++++++++++
 2 files changed, 16 insertions(+), 1 deletion(-)

diff --git a/lerobot/common/motors/feetech/__init__.py b/lerobot/common/motors/feetech/__init__.py
index ae61d23b5..1f110e400 100644
--- a/lerobot/common/motors/feetech/__init__.py
+++ b/lerobot/common/motors/feetech/__init__.py
@@ -1,3 +1,3 @@
-from .feetech import FeetechMotorsBus
+from .feetech import FeetechMotorsBus, OperatingMode
 from .feetech_calibration import apply_feetech_offsets_from_calibration, run_full_arm_calibration
 from .tables import *
diff --git a/lerobot/common/motors/feetech/feetech.py b/lerobot/common/motors/feetech/feetech.py
index 74c114b3a..14aeb3dff 100644
--- a/lerobot/common/motors/feetech/feetech.py
+++ b/lerobot/common/motors/feetech/feetech.py
@@ -13,6 +13,7 @@
 # limitations under the License.
 
 from copy import deepcopy
+from enum import Enum
 
 from ..motors_bus import Motor, MotorsBus
 from .tables import (
@@ -29,6 +30,20 @@ DEFAULT_TIMEOUT_MS = 1000
 MAX_ID_RANGE = 252
 
 
+class OperatingMode(Enum):
+    # position servo mode
+    POSITION = 0
+    # The motor is in constant speed mode, which is controlled by parameter 0x2e, and the highest bit 15 is
+    # the direction bit
+    VELOCITY = 1
+    # PWM open-loop speed regulation mode, with parameter 0x2c running time parameter control, bit11 as
+    # direction bit
+    PWM = 2
+    # In step servo mode, the number of step progress is represented by parameter 0x2a, and the highest bit 15
+    # is the direction bit
+    STEP = 3
+
+
 class FeetechMotorsBus(MotorsBus):
     """
     The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on the