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Add ping testing

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This commit is contained in:
Simon Alibert
2025-03-22 00:40:22 +01:00
parent 6fa859fa19
commit 4fe1880887
2 changed files with 50 additions and 5 deletions
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14
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -58,10 +58,16 @@ class DynamixelMotorsBus(MotorsBus):
self.reader = dxl.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0)
self.writer = dxl.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
def broadcast_ping(self) -> tuple[list, int]:
data_list, comm = self.packet_handler.broadcastPing(self.port_handler)
# TODO(aliberts): translate data_list into {id: model}
return data_list, comm
def broadcast_ping(
self, num_retry: int = 0, raise_on_error: bool = False
) -> dict[int, list[int, int]] | None:
for _ in range(1 + num_retry):
data_list, comm = self.packet_handler.broadcastPing(self.port_handler)
if self._is_comm_success(comm):
return data_list
if raise_on_error:
raise ConnectionError(f"Broadcast ping returned a {comm} comm error.")
def calibrate_values(self, ids_values: dict[int, int]) -> dict[int, float]:
# TODO