tangger/lerobot
1
0
Fork 1
Code Issues Pull Requests Actions 1 Packages Projects Releases Wiki Activity

Add protocol 1 broadcast ping

Browse Source
This commit is contained in:
Simon Alibert
2025-04-10 17:14:40 +02:00
parent 12abc9ca86
commit 27cb0c40bd
4 changed files with 99 additions and 95 deletions
Download Patch File Download Diff File Expand all files Collapse all files

27
lerobot/common/motors/dynamixel/dynamixel.py
View File

@@ -125,13 +125,13 @@ class DynamixelMotorsBus(MotorsBus):
for id_ in self.ids:
self.write("Return_Delay_Time", id_, 0)
def _disable_torque(self, motors: list[NameOrID]) -> None:
for motor in motors:
self.write("Torque_Enable", motor, TorqueMode.DISABLED.value)
def disable_torque(self, motors: str | list[str] | None = None) -> None:
for name in self._get_names_list(motors):
self.write("Torque_Enable", name, TorqueMode.DISABLED.value)
def _enable_torque(self, motors: list[NameOrID]) -> None:
for motor in motors:
self.write("Torque_Enable", motor, TorqueMode.ENABLED.value)
def enable_torque(self, motors: str | list[str] | None = None) -> None:
for name in self._get_names_list(motors):
self.write("Torque_Enable", name, TorqueMode.ENABLED.value)
def _encode_sign(self, data_name: str, ids_values: dict[int, int]) -> dict[int, int]:
for id_ in ids_values:
@@ -167,22 +167,9 @@ class DynamixelMotorsBus(MotorsBus):
return half_turn_homings
@staticmethod
def _split_int_to_bytes(value: int, n_bytes: int) -> list[int]:
# Validate input
if value < 0:
raise ValueError(f"Negative values are not allowed: {value}")
max_value = {1: 0xFF, 2: 0xFFFF, 4: 0xFFFFFFFF}.get(n_bytes)
if max_value is None:
raise NotImplementedError(f"Unsupported byte size: {n_bytes}. Expected [1, 2, 4].")
if value > max_value:
raise ValueError(f"Value {value} exceeds the maximum for {n_bytes} bytes ({max_value}).")
def _split_into_byte_chunks(value: int, n_bytes: int) -> list[int]:
import dynamixel_sdk as dxl
# Note: No need to convert back into unsigned int, since this byte preprocessing
# already handles it for us.
if n_bytes == 1:
data = [value]
elif n_bytes == 2: