From a32d988536fb3955d3a12376270e1ed534c4de36 Mon Sep 17 00:00:00 2001 From: Simon Alibert Date: Wed, 4 Jun 2025 16:41:33 +0200 Subject: [PATCH] Refactor feetech _broadcast_ping --- lerobot/common/motors/feetech/feetech.py | 5 +---- 1 file changed, 1 insertion(+), 4 deletions(-) diff --git a/lerobot/common/motors/feetech/feetech.py b/lerobot/common/motors/feetech/feetech.py index f5b4258c8..4937fdea7 100644 --- a/lerobot/common/motors/feetech/feetech.py +++ b/lerobot/common/motors/feetech/feetech.py @@ -358,13 +358,10 @@ class FeetechMotorsBus(MotorsBus): self.port_handler.setPacketTimeoutMillis((wait_length * tx_time_per_byte) + (3.0 * scs.MAX_ID) + 16.0) rxpacket = [] - while True: + while not self.port_handler.isPacketTimeout() and rx_length < wait_length: rxpacket += self.port_handler.readPort(wait_length - rx_length) rx_length = len(rxpacket) - if self.port_handler.isPacketTimeout(): # or rx_length >= wait_length - break - self.port_handler.is_using = False if rx_length == 0: