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This commit is contained in:
Remi Cadene
2024-10-03 14:34:28 +02:00
parent 62651cb2a9
commit 6ca54a11dd
2 changed files with 9 additions and 4 deletions
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2
lerobot/configs/robot/so_100.yaml
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@@ -23,7 +23,7 @@ leader_arms:
follower_arms: follower_arms:
main: main:
_target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus _target_: lerobot.common.robot_devices.motors.feetech.FeetechMotorsBus
port: /dev/tty.usbmodem585A0080521 port: /dev/tty.usbmodem585A0080971
motors: motors:
# name: (index, model) # name: (index, model)
shoulder_pan: [1, "sts3215"] shoulder_pan: [1, "sts3215"]

11
lerobot/scripts/configure_motor.py
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@@ -118,10 +118,15 @@ def configure_motor(port, brand, model, motor_idx_des, baudrate_des):
if brand == "feetech": if brand == "feetech":
motor_bus.write("Goal_Position", 2047) motor_bus.write("Goal_Position", 2047)
time.sleep(4) time.sleep(4)
motor_bus.write("Offset", 2047) print("Present Position", motor_bus.read("Present_Position"))
motor_bus.write("Offset", 2027)
time.sleep(4) time.sleep(4)
breakpoint() print("Offset", motor_bus.read("Offset"))
motor_bus.read("Present_Position")
while True:
print("Present Position", motor_bus.read("Present_Position"))
time.sleep(0.5)
except Exception as e: except Exception as e:
print(f"Error occurred during motor configuration: {e}") print(f"Error occurred during motor configuration: {e}")