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Fix calibration and ofset for single turn works!

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test by running using calibration and  then run visualize calibration and each non linear joint has value of 2047 in middle at homed position, thus the 0<->4096 point is shifted for each motor to be on the other side of the homing position.
This commit is contained in:
Pepijn
2025-03-13 10:47:49 +01:00
parent 80c272e1f9
commit b31283ed6c
3 changed files with 109 additions and 45 deletions
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38
lerobot/common/robot_devices/robots/feetech_calibration.py
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@@ -41,32 +41,38 @@ def get_calibration_modes(arm: MotorsBus):
]
def reset_offset(motor_id, motor_bus):
# Open the write lock => Lock=1 => changes to EEPROM do NOT persist yet
motor_bus.write("Lock", 1)
# Set offset to 0
motor_name = motor_bus.motor_names[motor_id - 1]
motor_bus.write("Offset", 0, motor_names=[motor_name])
# Close the write lock => Lock=0 => changes to EEPROM do persist!
motor_bus.write("Lock", 0)
# Confirm that the offset is zero by reading it back
confirmed_offset = motor_bus.read("Offset")[motor_id - 1]
print(f"Offset for motor {motor_id} reset to: {confirmed_offset}")
return confirmed_offset
def calibrate_homing_motor(motor_id, motor_bus):
"""
1) Reads servo ticks.
2) Calculates the offset so that 'home_ticks' becomes 0.
3) Returns the offset
"""
reset_offset(motor_id, motor_bus)
home_ticks = motor_bus.read("Present_Position")[motor_id - 1] # Read index starts at 0
print(f"Encoder offset (present position in homing position): {home_ticks}")
# Calculate how many ticks to shift so that 'home_ticks' becomes 0
raw_offset = -home_ticks # negative of home_ticks
encoder_offset = raw_offset % 4096 # wrap to [0..4095]
# Convert to a signed range [-2048..2047]
if encoder_offset > 2047:
encoder_offset -= 4096
print(f"Encoder offset: {encoder_offset}")
return encoder_offset
return home_ticks
def calibrate_linear_motor(motor_id, motor_bus):
motor_names = motor_bus.motor_names
motor_name = motor_names[motor_id - 1] # TODO(pepijn): replace motor_id with motor index when (id-1)
reset_offset(motor_id, motor_bus)
input(f"Close the {motor_name}, then press Enter...")
start_pos = motor_bus.read("Present_Position")[motor_id - 1] # Read index starts ar 0
print(f" [Motor {motor_id}] start position recorded: {start_pos}")