Adding magnitude encoding bits for feetech motors according to https://github.com/Kotakku/FT_SCServo_Debug_Qt/blob/master/servo/sms_sts.h and https://gitee.com/ftservo/FTServo_Python/blob/main/scservo_sdk/sms_sts.py (#2223)

2025-10-17 15:15:03 +02:00
parent 52455d03a7
commit ed49c9935a
1 changed files with 4 additions and 0 deletions
--- a/src/lerobot/motors/feetech/tables.py
+++ b/src/lerobot/motors/feetech/tables.py
@@ -206,8 +206,12 @@ MODEL_BAUDRATE_TABLE = {
 # Sign-Magnitude encoding bits
 STS_SMS_SERIES_ENCODINGS_TABLE = {
    "Homing_Offset": 11,
+    "Goal_Position": 15,
    "Goal_Velocity": 15,
+    "Goal_Speed": 15,
+    "Present_Position": 15,
    "Present_Velocity": 15,
+    "Present_Speed": 15,
 }

 MODEL_ENCODING_TABLE = {