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Make feetech broadcast ping faster in protocol 1

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This commit is contained in:
Simon Alibert
2025-04-11 11:02:54 +02:00
parent 0464dc91b3
commit 4ca92a28e9
1 changed files with 7 additions and 1 deletions
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8
lerobot/common/motors/feetech/feetech.py
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@@ -186,7 +186,9 @@ class FeetechMotorsBus(MotorsBus):
]
return data
def _broadcast_ping_p1(self, known_motors_only: bool = True, num_retry: int = 0) -> dict[int, int]:
def _broadcast_ping_p1(
self, known_motors_only: bool = True, n_motors: int | None = None, num_retry: int = 0
) -> dict[int, int]:
if known_motors_only:
ids = self.ids
else:
@@ -195,10 +197,14 @@ class FeetechMotorsBus(MotorsBus):
ids = range(scs.MAX_ID + 1)
ids_models = {}
motors_found = 0
for id_ in ids:
model_number = self.ping(id_, num_retry)
if model_number is not None:
ids_models[id_] = model_number
motors_found += 1
if motors_found >= n_motors:
break
return ids_models