forked from tangger/lerobot
104 lines
3.5 KiB
Python
104 lines
3.5 KiB
Python
# Copyright 2024 The HuggingFace Inc. team. All rights reserved.
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#
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# Licensed under the Apache License, Version 2.0 (the "License");
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# you may not use this file except in compliance with the License.
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# You may obtain a copy of the License at
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#
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# http://www.apache.org/licenses/LICENSE-2.0
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#
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# Unless required by applicable law or agreed to in writing, software
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# distributed under the License is distributed on an "AS IS" BASIS,
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# WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
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# See the License for the specific language governing permissions and
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# limitations under the License.
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from copy import deepcopy
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from ..motors_bus import Motor, MotorsBus
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from .tables import (
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CALIBRATION_REQUIRED,
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MODEL_BAUDRATE_TABLE,
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MODEL_CONTROL_TABLE,
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MODEL_RESOLUTION,
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)
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PROTOCOL_VERSION = 0
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BAUDRATE = 1_000_000
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DEFAULT_TIMEOUT_MS = 1000
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MAX_ID_RANGE = 252
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class FeetechMotorsBus(MotorsBus):
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"""
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The FeetechMotorsBus class allows to efficiently read and write to the attached motors. It relies on the
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python feetech sdk to communicate with the motors, which is itself based on the dynamixel sdk.
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"""
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model_ctrl_table = deepcopy(MODEL_CONTROL_TABLE)
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model_resolution_table = deepcopy(MODEL_RESOLUTION)
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model_baudrate_table = deepcopy(MODEL_BAUDRATE_TABLE)
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calibration_required = deepcopy(CALIBRATION_REQUIRED)
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default_timeout = DEFAULT_TIMEOUT_MS
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def __init__(
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self,
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port: str,
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motors: dict[str, Motor],
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):
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super().__init__(port, motors)
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import scservo_sdk as scs
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self.port_handler = scs.PortHandler(self.port)
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self.packet_handler = scs.PacketHandler(PROTOCOL_VERSION)
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self.sync_reader = scs.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0)
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self.sync_writer = scs.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
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self.__comm_success = scs.COMM_SUCCESS
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def broadcast_ping(self, num_retry: int | None = None):
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raise NotImplementedError # TODO
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def calibrate_values(self, ids_values: dict[int, int]) -> dict[int, float]:
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# TODO
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return ids_values
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def uncalibrate_values(self, ids_values: dict[int, float]) -> dict[int, int]:
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# TODO
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return ids_values
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def _is_comm_success(self, comm: int) -> bool:
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return comm == self.__comm_success
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def _is_error(self, error: int) -> bool:
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return error != 0x00
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@staticmethod
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def split_int_bytes(value: int, n_bytes: int) -> list[int]:
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# Validate input
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if value < 0:
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raise ValueError(f"Negative values are not allowed: {value}")
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max_value = {1: 0xFF, 2: 0xFFFF, 4: 0xFFFFFFFF}.get(n_bytes)
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if max_value is None:
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raise NotImplementedError(f"Unsupported byte size: {n_bytes}. Expected [1, 2, 4].")
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if value > max_value:
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raise ValueError(f"Value {value} exceeds the maximum for {n_bytes} bytes ({max_value}).")
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import scservo_sdk as scs
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# Note: No need to convert back into unsigned int, since this byte preprocessing
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# already handles it for us.
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if n_bytes == 1:
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data = [value]
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elif n_bytes == 2:
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data = [scs.SCS_LOBYTE(value), scs.SCS_HIBYTE(value)]
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elif n_bytes == 4:
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data = [
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scs.SCS_LOBYTE(scs.SCS_LOWORD(value)),
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scs.SCS_HIBYTE(scs.SCS_LOWORD(value)),
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scs.SCS_LOBYTE(scs.SCS_HIWORD(value)),
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scs.SCS_HIBYTE(scs.SCS_HIWORD(value)),
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]
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return data
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