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Simplify _is_comm_success & _is_error

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Simon Alibert
2025-03-23 16:52:29 +01:00
parent a38bb15e79
commit 57c97762e1
3 changed files with 8 additions and 18 deletions
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9
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -57,7 +57,8 @@ class DynamixelMotorsBus(MotorsBus):
self.packet_handler = dxl.PacketHandler(PROTOCOL_VERSION)
self.sync_reader = dxl.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0)
self.sync_writer = dxl.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
self.__comm_success = dxl.COMM_SUCCESS
self._comm_success = dxl.COMM_SUCCESS
self._error = 0x00
def broadcast_ping(
self, num_retry: int = 0, raise_on_error: bool = False
@@ -78,12 +79,6 @@ class DynamixelMotorsBus(MotorsBus):
# TODO
return ids_values
def _is_comm_success(self, comm: int) -> bool:
return comm == self.__comm_success
def _is_error(self, error: int) -> bool:
return error != 0x00
@staticmethod
def split_int_bytes(value: int, n_bytes: int) -> list[int]:
# Validate input