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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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9
tests/mocks/mock_dynamixel.py
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@@ -5,7 +5,8 @@ import dynamixel_sdk as dxl
import serial
from mock_serial.mock_serial import MockSerial
from lerobot.common.motors.dynamixel import X_SERIES_CONTROL_TABLE, DynamixelMotorsBus
from lerobot.common.motors.dynamixel import X_SERIES_CONTROL_TABLE
from lerobot.common.motors.dynamixel.dynamixel import _split_into_byte_chunks
from .mock_serial_patch import WaitableStub
@@ -237,7 +238,7 @@ class MockInstructionPacket(MockDynamixelPacketv2):
+2 is for the length bytes,
+2 is for the CRC at the end.
"""
data = DynamixelMotorsBus._split_into_byte_chunks(value, data_length)
data = _split_into_byte_chunks(value, data_length)
params = [
dxl.DXL_LOBYTE(start_address),
dxl.DXL_HIBYTE(start_address),
@@ -315,7 +316,7 @@ class MockInstructionPacket(MockDynamixelPacketv2):
"""
data = []
for id_, value in ids_values.items():
split_value = DynamixelMotorsBus._split_into_byte_chunks(value, data_length)
split_value = _split_into_byte_chunks(value, data_length)
data += [id_, *split_value]
params = [
dxl.DXL_LOBYTE(start_address),
@@ -389,7 +390,7 @@ class MockStatusPacket(MockDynamixelPacketv2):
Returns:
bytes: The raw 'Present_Position' status packet ready to be sent through serial.
"""
params = DynamixelMotorsBus._split_into_byte_chunks(value, param_length)
params = _split_into_byte_chunks(value, param_length)
length = param_length + 4
return cls.build(dxl_id, params=params, length=length)

10
tests/mocks/mock_feetech.py
View File

@@ -5,8 +5,8 @@ import scservo_sdk as scs
import serial
from mock_serial import MockSerial
from lerobot.common.motors.feetech import STS_SMS_SERIES_CONTROL_TABLE, FeetechMotorsBus
from lerobot.common.motors.feetech.feetech import patch_setPacketTimeout
from lerobot.common.motors.feetech import STS_SMS_SERIES_CONTROL_TABLE
from lerobot.common.motors.feetech.feetech import _split_into_byte_chunks, patch_setPacketTimeout
from .mock_serial_patch import WaitableStub
@@ -139,7 +139,7 @@ class MockInstructionPacket(MockFeetechPacket):
+1 is for the length bytes,
+1 is for the checksum at the end.
"""
data = FeetechMotorsBus._split_into_byte_chunks(value, data_length)
data = _split_into_byte_chunks(value, data_length)
params = [start_address, *data]
length = data_length + 3
return cls.build(scs_id=scs_id, params=params, length=length, instruct_type="Write")
@@ -201,7 +201,7 @@ class MockInstructionPacket(MockFeetechPacket):
"""
data = []
for id_, value in ids_values.items():
split_value = FeetechMotorsBus._split_into_byte_chunks(value, data_length)
split_value = _split_into_byte_chunks(value, data_length)
data += [id_, *split_value]
params = [start_address, data_length, *data]
length = len(ids_values) * (1 + data_length) + 4
@@ -258,7 +258,7 @@ class MockStatusPacket(MockFeetechPacket):
Returns:
bytes: The raw 'Sync Read' status packet ready to be sent through serial.
"""
params = FeetechMotorsBus._split_into_byte_chunks(value, param_length)
params = _split_into_byte_chunks(value, param_length)
length = param_length + 2
return cls.build(scs_id, params=params, length=length)