User/pepijn/2025 01 31 improved tutorial so100 (#666)

2025-02-03 18:27:55 +01:00
parent 43e079f73e
commit dd974529cf
3 changed files with 108 additions and 32 deletions
--- a/lerobot/common/robot_devices/motors/feetech.py
+++ b/lerobot/common/robot_devices/motors/feetech.py
@@ -717,6 +717,10 @@ class FeetechMotorsBus:
        group_key = get_group_sync_key(data_name, motor_names)

        if data_name not in self.group_readers:
+            # Very Important to flush the buffer!
+            self.port_handler.ser.reset_output_buffer()
+            self.port_handler.ser.reset_input_buffer()
+
            # create new group reader
            self.group_readers[group_key] = scs.GroupSyncRead(
                self.port_handler, self.packet_handler, addr, bytes