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

Add mock to feetech

Browse Source
This commit is contained in:
Remi Cadene
2024-10-23 18:22:52 +02:00
parent 67b28e17dc
commit 2b558dfc0c
4 changed files with 186 additions and 40 deletions
Download Patch File Download Diff File Expand all files Collapse all files

16
tests/test_motors.py
View File

@@ -52,12 +52,24 @@ def test_configure_motors_all_ids_1(request, motor_type, mock):
if mock:
request.getfixturevalue("patch_builtins_input")
if motor_type == "dynamixel":
# see X_SERIES_BAUDRATE_TABLE
smaller_baudrate = 9_600
smaller_baudrate_value = 0
elif motor_type == "feetech":
# see SCS_SERIES_BAUDRATE_TABLE
smaller_baudrate = 19_200
smaller_baudrate_value = 7
else:
raise ValueError(motor_type)
input("Are you sure you want to re-configure the motors? Press enter to continue...")
# This test expect the configuration was already correct.
motors_bus = make_motors_bus(motor_type, mock=mock)
motors_bus.connect()
motors_bus.write("Baud_Rate", [0] * len(motors_bus.motors))
motors_bus.set_bus_baudrate(9_600)
motors_bus.write("Baud_Rate", [smaller_baudrate_value] * len(motors_bus.motors))
motors_bus.set_bus_baudrate(smaller_baudrate)
motors_bus.write("ID", [1] * len(motors_bus.motors))
del motors_bus