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Fix feetech protocol 1 configure

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This commit is contained in:
Simon Alibert
2025-05-20 17:34:20 +02:00
parent a79f096750
commit df7b22de95
1 changed files with 2 additions and 2 deletions
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4
lerobot/common/motors/feetech/feetech.py
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@@ -222,8 +222,8 @@ class FeetechMotorsBus(MotorsBus):
# the 'Return_Delay_Time' address). We ensure this is reduced to the minimum of 2µs (value of 0).
self.write("Return_Delay_Time", motor, 0)
# Set 'Maximum_Acceleration' to 254 to speedup acceleration and deceleration of the motors.
# Note: this address is not in the official STS3215 Memory Table
self.write("Maximum_Acceleration", motor, 254)
if self.protocol_version == 0:
self.write("Maximum_Acceleration", motor, 254)
self.write("Acceleration", motor, 254)
def read_calibration(self) -> dict[str, MotorCalibration]: