Refactor feetech _broadcast_ping

2025-06-04 16:41:33 +02:00
parent 9571a713df
commit a32d988536
1 changed files with 1 additions and 4 deletions
--- a/lerobot/common/motors/feetech/feetech.py
+++ b/lerobot/common/motors/feetech/feetech.py
@@ -358,13 +358,10 @@ class FeetechMotorsBus(MotorsBus):
        self.port_handler.setPacketTimeoutMillis((wait_length * tx_time_per_byte) + (3.0 * scs.MAX_ID) + 16.0)

        rxpacket = []
-        while True:
+        while not self.port_handler.isPacketTimeout() and rx_length < wait_length:
            rxpacket += self.port_handler.readPort(wait_length - rx_length)
            rx_length = len(rxpacket)

-            if self.port_handler.isPacketTimeout():  # or rx_length >= wait_length
-                break
-
        self.port_handler.is_using = False

        if rx_length == 0: