Caps dxl OperatingMode

lerobot/common/motors/dynamixel/dynamixel.py

@@ -37,27 +37,27 @@ class OperatingMode(Enum):
     # DYNAMIXEL only controls current(torque) regardless of speed and position. This mode is ideal for a
     # gripper or a system that only uses current(torque) control or a system that has additional
     # velocity/position controllers.
-    Current = 0
+    CURRENT = 0
 
     # This mode controls velocity. This mode is identical to the Wheel Mode(endless) from existing DYNAMIXEL.
     # This mode is ideal for wheel-type robots.
-    Velocity = 1
+    VELOCITY = 1
 
     # This mode controls position. This mode is identical to the Joint Mode from existing DYNAMIXEL. Operating
     # position range is limited by the Max Position Limit(48) and the Min Position Limit(52). This mode is
     # ideal for articulated robots that each joint rotates less than 360 degrees.
-    Position = 3
+    POSITION = 3
 
     # This mode controls position. This mode is identical to the Multi-turn Position Control from existing
     # DYNAMIXEL. 512 turns are supported(-256[rev] ~ 256[rev]). This mode is ideal for multi-turn wrists or
     # conveyer systems or a system that requires an additional reduction gear. Note that Max Position
     # Limit(48), Min Position Limit(52) are not used on Extended Position Control Mode.
-    Extended_Position = 4
+    EXTENDED_POSITION = 4
 
     # This mode controls both position and current(torque). Up to 512 turns are supported (-256[rev] ~
     # 256[rev]). This mode is ideal for a system that requires both position and current control such as
     # articulated robots or grippers.
-    Current_Position = 5
+    CURRENT_POSITION = 5
 
     # This mode directly controls PWM output. (Voltage Control Mode)
     PWM = 16