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Rename read/write -> sync_read/write, refactor, add write

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Simon Alibert
2025-03-23 13:25:45 +01:00
parent a2f5c34625
commit 5a57e6f4a7
5 changed files with 126 additions and 68 deletions
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7
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -55,8 +55,8 @@ class DynamixelMotorsBus(MotorsBus):
self.port_handler = dxl.PortHandler(self.port)
self.packet_handler = dxl.PacketHandler(PROTOCOL_VERSION)
self.reader = dxl.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0)
self.writer = dxl.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
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)
def broadcast_ping(
self, num_retry: int = 0, raise_on_error: bool = False
@@ -82,6 +82,9 @@ class DynamixelMotorsBus(MotorsBus):
return comm == dxl.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