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(WIP) _async_read

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Simon Alibert
2025-03-25 15:37:18 +01:00
parent a631e4c11c
commit 2d3a5fb2be
1 changed files with 7 additions and 3 deletions
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10
lerobot/common/motors/motors_bus.py
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@@ -581,10 +581,14 @@ class MotorsBus(abc.ABC):
# This could be at the cost of increase latency between the moment the data is produced by the motors and
# the moment it is used by a policy.
# def _async_read(self, motor_ids: list[str], address: int, n_bytes: int):
# self.reader.rxPacket()
# self.reader.txPacket()
# if self.sync_reader.start_address != address or self.sync_reader.data_length != n_bytes or ...:
# self._setup_sync_reader(motor_ids, address, n_bytes)
# else:
# self.sync_reader.rxPacket()
# self.sync_reader.txPacket()
# for id_ in motor_ids:
# value = self.reader.getData(id_, address, n_bytes)
# value = self.sync_reader.getData(id_, address, n_bytes)
def sync_write(
self,