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Add _configure_motors & move ping methods

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Simon Alibert
2025-03-24 12:19:03 +01:00
parent 9832daf08d
commit 8994252019
3 changed files with 48 additions and 32 deletions
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26
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -91,16 +91,11 @@ class DynamixelMotorsBus(MotorsBus):
self._comm_success = dxl.COMM_SUCCESS
self._no_error = 0x00
def broadcast_ping(
self, num_retry: int = 0, raise_on_error: bool = False
) -> dict[int, list[int, int]] | None:
for _ in range(1 + num_retry):
data_list, comm = self.packet_handler.broadcastPing(self.port_handler)
if self._is_comm_success(comm):
return data_list
if raise_on_error:
raise ConnectionError(f"Broadcast ping returned a {comm} comm error.")
def _configure_motors(self) -> None:
# By default, Dynamixel motors have a 500µs delay response time (corresponding to a value of 250 on
# the 'Return_Delay_Time' address). We ensure this is reduced to the minimum of 2µs (value of 0).
for id_ in self.ids:
self.write("Return_Delay_Time", id_, 0)
def _calibrate_values(self, ids_values: dict[int, int]) -> dict[int, float]:
# TODO
@@ -139,3 +134,14 @@ class DynamixelMotorsBus(MotorsBus):
dxl.DXL_HIBYTE(dxl.DXL_HIWORD(value)),
]
return data
def broadcast_ping(
self, num_retry: int = 0, raise_on_error: bool = False
) -> dict[int, list[int, int]] | None:
for _ in range(1 + num_retry):
data_list, comm = self.packet_handler.broadcastPing(self.port_handler)
if self._is_comm_success(comm):
return data_list
if raise_on_error:
raise ConnectionError(f"Broadcast ping returned a {comm} comm error.")