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updating config instructions for koch 1v1 motors (#658)

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This commit is contained in:
Morgan Redfield
2025-01-28 07:20:33 -05:00
committed by GitHub
parent 5daa45436d
commit 4323bdce22
2 changed files with 37 additions and 6 deletions
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4
lerobot/scripts/configure_motor.py
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@@ -76,6 +76,7 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
"Error: More than one motor ID detected. This script is designed to only handle one motor at a time. Please disconnect all but one motor."
)
motor_index = present_ids[0]
break
if motor_index == -1:
raise ValueError("No motors detected. Please ensure you have one motor connected.")
@@ -102,7 +103,8 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
raise OSError("Failed to write baudrate.")
print(f"Setting its index to desired index {motor_idx_des}")
motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "Lock", 0)
if brand == "feetech":
motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "Lock", 0)
motor_bus.write_with_motor_ids(motor_bus.motor_models, motor_index, "ID", motor_idx_des)
present_idx = motor_bus.read_with_motor_ids(motor_bus.motor_models, motor_idx_des, "ID", num_retry=2)