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Add support for feetech scs series + various fixes

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This commit is contained in:
Simon Alibert
2025-04-08 10:46:29 +02:00
parent 99c0938b42
commit e998dddcfa
5 changed files with 291 additions and 307 deletions
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10
tests/mocks/mock_feetech.py
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@@ -5,7 +5,7 @@ import scservo_sdk as scs
import serial
from mock_serial import MockSerial
from lerobot.common.motors.feetech import SCS_SERIES_CONTROL_TABLE, FeetechMotorsBus
from lerobot.common.motors.feetech import STS_SMS_SERIES_CONTROL_TABLE, FeetechMotorsBus
from lerobot.common.motors.feetech.feetech import patch_setPacketTimeout
from .mock_serial_patch import WaitableStub
@@ -297,7 +297,7 @@ class MockMotors(MockSerial):
instruction packets. It is meant to test MotorsBus classes.
"""
ctrl_table = SCS_SERIES_CONTROL_TABLE
ctrl_table = STS_SMS_SERIES_CONTROL_TABLE
def __init__(self):
super().__init__()
@@ -338,12 +338,6 @@ class MockMotors(MockSerial):
def build_read_stub(
self, data_name: str, scs_id: int, value: int | None = None, num_invalid_try: int = 0
) -> str:
"""
'data_name' supported:
- Model_Number
"""
if data_name != "Model_Number":
raise NotImplementedError
address, length = self.ctrl_table[data_name]
read_request = MockInstructionPacket.read(scs_id, address, length)
return_packet = MockStatusPacket.read(scs_id, value, length)