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add todo

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Pepijn
2025-02-18 19:49:59 +01:00
parent e8f90ef3f5
commit 8088110aac
1 changed files with 2 additions and 2 deletions
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4
lerobot/common/robot_devices/robots/feetech_calibration.py
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@@ -51,7 +51,7 @@ def calibrate_homing_motor(motor_id, motor_bus):
def calibrate_linear_motor(motor_id, motor_bus):
motor_names = motor_bus.motor_names
motor_name = motor_names[motor_id - 1]
motor_name = motor_names[motor_id - 1] # TODO(pepijn): replace motor_id with motor index when (id-1)
input(f"Close the {motor_name}, then press Enter...")
start_pos = motor_bus.read("Present_Position")[motor_id - 1] # Read index starts ar 0
@@ -77,7 +77,7 @@ def single_motor_calibration(arm: MotorsBus, motor_id: int):
if motor_id == 6:
start_pos, end_pos = calibrate_linear_motor(motor_id, arm)
else:
input("Move the motor to middle (home) position, then press Enter...")
input("Move the motor to (zero) position, then press Enter...")
encoder_offset = calibrate_homing_motor(motor_id, arm)
print(f"Calibration for motor ID:{motor_id} done.")