hangX/lerobot
1
0
Fork 0
forked from tangger/lerobot
Code Pull Requests Activity

Use constants from sdks

Browse Source
This commit is contained in:
Simon Alibert
2025-04-10 00:49:03 +02:00
parent 42a87e7211
commit 443fed216c
2 changed files with 40 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files

26
tests/mocks/mock_feetech.py
View File

@@ -12,23 +12,23 @@ from .mock_serial_patch import WaitableStub
# https://files.waveshare.com/upload/2/27/Communication_Protocol_User_Manual-EN%28191218-0923%29.pdf
INSTRUCTION_TYPES = {
"Ping": 0x01, # Checks whether the Packet has arrived at a device with the same ID as the specified packet ID
"Read": 0x02, # Read data from the Device
"Write": 0x03, # Write data to the Device
"Reg_Write": 0x04, # Register the Instruction Packet in standby status; Packet can later be executed using the Action command
"Action": 0x05, # Executes a Packet that was registered beforehand using Reg Write
"Factory_Reset": 0x06, # Resets the Control Table to its initial factory default settings
"Sync_Read": 0x82, # Read data from multiple devices with the same Address with the same length at once
"Sync_Write": 0x83, # Write data to multiple devices with the same Address with the same length at once
"Read": scs.INST_PING, # Read data from the Device
"Ping": scs.INST_READ, # Checks whether the Packet has arrived at a device with the same ID as the specified packet ID
"Write": scs.INST_WRITE, # Write data to the Device
"Reg_Write": scs.INST_REG_WRITE, # Register the Instruction Packet in standby status; Packet can later be executed using the Action command
"Action": scs.INST_ACTION, # Executes a Packet that was registered beforehand using Reg Write
"Factory_Reset": 0x06, # Resets the Control Table to its initial factory default settings
"Sync_Write": scs.INST_SYNC_WRITE, # Write data to multiple devices with the same Address with the same length at once
"Sync_Read": scs.INST_SYNC_READ, # Read data from multiple devices with the same Address with the same length at once
} # fmt: skip
ERROR_TYPE = {
"Success": 0x00,
"Voltage": 0x01,
"Angle": 0x02,
"Overheat": 0x04,
"Overele": 0x08,
"Overload": 0x20,
"Voltage": scs.ERRBIT_VOLTAGE,
"Angle": scs.ERRBIT_ANGLE,
"Overheat": scs.ERRBIT_OVERHEAT,
"Overele": scs.ERRBIT_OVERELE,
"Overload": scs.ERRBIT_OVERLOAD,
}