Add support for feetech protocol 1 to _split_into_byte_chunks

tests/mocks/mock_dynamixel.py

@@ -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)