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Refactor & add _serialize_data

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Simon Alibert
2025-04-11 11:01:12 +02:00
parent 27cb0c40bd
commit d32daebf75
7 changed files with 78 additions and 104 deletions
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8
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -167,14 +167,14 @@ class DynamixelMotorsBus(MotorsBus):
return half_turn_homings
@staticmethod
def _split_into_byte_chunks(value: int, n_bytes: int) -> list[int]:
def _split_into_byte_chunks(value: int, length: int) -> list[int]:
import dynamixel_sdk as dxl
if n_bytes == 1:
if length == 1:
data = [value]
elif n_bytes == 2:
elif length == 2:
data = [dxl.DXL_LOBYTE(value), dxl.DXL_HIBYTE(value)]
elif n_bytes == 4:
elif length == 4:
data = [
dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),
dxl.DXL_HIBYTE(dxl.DXL_LOWORD(value)),