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Add support for feetech protocol 1 to _split_into_byte_chunks

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This commit is contained in:
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/feetech/feetech.py
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@@ -64,6 +64,23 @@ class TorqueMode(Enum):
DISABLED = 0
def _split_into_byte_chunks(value: int, length: int) -> list[int]:
import scservo_sdk as scs
if length == 1:
data = [value]
elif length == 2:
data = [scs.SCS_LOBYTE(value), scs.SCS_HIBYTE(value)]
elif length == 4:
data = [
scs.SCS_LOBYTE(scs.SCS_LOWORD(value)),
scs.SCS_HIBYTE(scs.SCS_LOWORD(value)),
scs.SCS_LOBYTE(scs.SCS_HIWORD(value)),
scs.SCS_HIBYTE(scs.SCS_HIWORD(value)),
]
return data
def patch_setPacketTimeout(self, packet_length): # noqa: N802
"""
HACK: This patches the PortHandler behavior to set the correct packet timeouts.
@@ -169,22 +186,8 @@ class FeetechMotorsBus(MotorsBus):
return ids_values
@staticmethod
def _split_into_byte_chunks(value: int, length: int) -> list[int]:
import scservo_sdk as scs
if length == 1:
data = [value]
elif length == 2:
data = [scs.SCS_LOBYTE(value), scs.SCS_HIBYTE(value)]
elif length == 4:
data = [
scs.SCS_LOBYTE(scs.SCS_LOWORD(value)),
scs.SCS_HIBYTE(scs.SCS_LOWORD(value)),
scs.SCS_LOBYTE(scs.SCS_HIWORD(value)),
scs.SCS_HIBYTE(scs.SCS_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_p1(
self, known_motors_only: bool = True, n_motors: int | None = None, num_retry: int = 0