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Refactor _is_comm_success

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This commit is contained in:
Simon Alibert
2025-03-23 16:15:53 +01:00
parent 329d103453
commit d485dc1313
2 changed files with 4 additions and 6 deletions
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5
lerobot/common/motors/dynamixel/dynamixel.py
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@@ -57,6 +57,7 @@ class DynamixelMotorsBus(MotorsBus):
self.packet_handler = dxl.PacketHandler(PROTOCOL_VERSION)
self.sync_reader = dxl.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0)
self.sync_writer = dxl.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
self.__comm_success = dxl.COMM_SUCCESS
def broadcast_ping(
self, num_retry: int = 0, raise_on_error: bool = False
@@ -78,9 +79,7 @@ class DynamixelMotorsBus(MotorsBus):
return ids_values
def _is_comm_success(self, comm: int) -> bool:
import dynamixel_sdk as dxl
return comm == dxl.COMM_SUCCESS
return comm == self.__comm_success
def _is_error(self, error: int) -> bool:
return error != 0x00

5
lerobot/common/motors/feetech/feetech.py
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@@ -53,6 +53,7 @@ class FeetechMotorsBus(MotorsBus):
self.packet_handler = scs.PacketHandler(PROTOCOL_VERSION)
self.sync_reader = scs.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0)
self.sync_writer = scs.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
self.__comm_success = scs.COMM_SUCCESS
def broadcast_ping(self, num_retry: int | None = None):
raise NotImplementedError # TODO
@@ -66,9 +67,7 @@ class FeetechMotorsBus(MotorsBus):
return ids_values
def _is_comm_success(self, comm: int) -> bool:
import scservo_sdk as scs
return comm == scs.COMM_SUCCESS
return comm == self.__comm_success
def _is_error(self, error: int) -> bool:
return error != 0x00