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Add support for feetech protocol 1 to _split_into_byte_chunks

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Simon Alibert
2025-04-11 11:58:09 +02:00
parent 0a7f51f0da
commit 9e57ec7837
8 changed files with 129 additions and 115 deletions
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35
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -84,6 +84,23 @@ class TorqueMode(Enum):
DISABLED = 0
def _split_into_byte_chunks(value: int, length: int) -> list[int]:
import dynamixel_sdk as dxl
if length == 1:
data = [value]
elif length == 2:
data = [dxl.DXL_LOBYTE(value), dxl.DXL_HIBYTE(value)]
elif length == 4:
data = [
dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),
dxl.DXL_HIBYTE(dxl.DXL_LOWORD(value)),
dxl.DXL_LOBYTE(dxl.DXL_HIWORD(value)),
dxl.DXL_HIBYTE(dxl.DXL_HIWORD(value)),
]
return data
class DynamixelMotorsBus(MotorsBus):
"""
The Dynamixel implementation for a MotorsBus. It relies on the python dynamixel sdk to communicate with
@@ -166,22 +183,8 @@ class DynamixelMotorsBus(MotorsBus):
return half_turn_homings
@staticmethod
def _split_into_byte_chunks(value: int, length: int) -> list[int]:
import dynamixel_sdk as dxl
if length == 1:
data = [value]
elif length == 2:
data = [dxl.DXL_LOBYTE(value), dxl.DXL_HIBYTE(value)]
elif length == 4:
data = [
dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),
dxl.DXL_HIBYTE(dxl.DXL_LOWORD(value)),
dxl.DXL_LOBYTE(dxl.DXL_HIWORD(value)),
dxl.DXL_HIBYTE(dxl.DXL_HIWORD(value)),
]
return data
def _split_into_byte_chunks(self, value: int, length: int) -> list[int]:
return _split_into_byte_chunks(value, length)
def broadcast_ping(self, num_retry: int = 0, raise_on_error: bool = False) -> dict[int, int] | None:
for n_try in range(1 + num_retry):