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added SM8512BL

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nepyope
2025-01-14 14:19:38 +01:00
parent 5bd41a3dca
commit f945641de9
1 changed files with 68 additions and 1 deletions
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69
lerobot/common/robot_devices/motors/feetech.py
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@@ -149,6 +149,59 @@ SCS_SERIES_CONTROL_TABLE = {
# "Maximum_Acceleration": (85, 2),
}
SM_SERIES_CONTROL_TABLE = {
"Firmware_Main_Version_No": (0, 1),
"Firmware_Secondary_Version_No": (1, 1),
"Servo_Main_Version_No": (3, 1),
"Servo_Secondary_Version_No": (4, 1),
"ID": (5, 1),
"Baud_Rate": (6, 1),
"Return_Delay": (7, 1),
"Response_Status_Level": (8, 1),
"Min_Position_Limit": (9, 2),
"Max_Position_Limit": (11, 2),
"Max_Temperature_Limit": (13, 1),
"Max_Input_Voltage": (14, 1),
"Min_Input_Voltage": (15, 1),
"Max_Torque_Limit": (16, 2),
"Unloading_Condition": (19, 1),
"LED_Alarm_Condition": (20, 1),
"P_Coefficient_Location_Ring": (21, 1),
"D_Coefficient_Location_Ring": (22, 1),
"I_Coefficient_Location_Ring": (23, 1),
"Minimum_Startup_Force": (24, 2),
"CW_Dead_Zone": (26, 1),
"CCW_Dead_Zone": (27, 1),
"Protection_Current": (28, 2),
"Angular_Resolution": (30, 1),
"Offset": (31, 2),
"Drive_Mode": (33, 1),
"Protective_Torque": (34, 1),
"Protection_Time": (35, 1),
"Overload_Torque": (36, 1),
"Speed_closed_loop_P_proportional_coefficient": (37, 1),
"Over_Current_Protection_Time": (38, 1),
"Velocity_closed_loop_I_integral_coefficient": (39, 1),
"Torque_Enable": (40, 1),
"Acceleration": (41, 1),
"Goal_Position": (42, 2),
"Goal_Speed": (46, 2),
"Torque_Limit": (48, 2),
"Lock": (55, 1),
"Present_Position": (56, 2),
"Present_Speed": (58, 2),
"Present_Load": (60, 2),
"Present_Voltage": (62, 1),
"Present_Temperature": (63, 1),
"Status": (65, 1),
"Moving": (66, 1),
"Present_Current": (69, 2),
# Not in the Memory Table
"Maximum_Acceleration": (85, 2),
}
STS_SERIES_BAUDRATE_TABLE = {
0: 1_000_000,
1: 500_000,
@@ -171,8 +224,19 @@ SCS_SERIES_BAUDRATE_TABLE = {
7: 19_200,
}
SM_SERIES_BAUDRATE_TABLE = {
0: 1_000_000,
1: 500_000,
2: 250_000,
3: 128_000,
4: 115_200,#default
5: 76_800,
6: 57_600,
7: 38_400,
}
CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
CONVERT_UINT32_TO_INT32_REQUIRED = ["Goal_Position", "Present_Position"]
CONVERT_UINT32_TO_INT32_REQUIRED = ["Goal_Position", "sm8512blPresent_Position"]
MODEL_CONTROL_TABLE = {
@@ -181,6 +245,7 @@ MODEL_CONTROL_TABLE = {
"sts3215": STS_SERIES_CONTROL_TABLE,
"sts3250": STS_SERIES_CONTROL_TABLE,
"scs0009": SCS_SERIES_CONTROL_TABLE,
"sm8512bl": SM_SERIES_CONTROL_TABLE,
}
MODEL_RESOLUTION = {
@@ -189,6 +254,7 @@ MODEL_RESOLUTION = {
"sts3215": 4096,
"sts3250": 4096,
"scs0009": 1024,
"sm8512bl": 4096,
}
MODEL_BAUDRATE_TABLE = {
@@ -197,6 +263,7 @@ MODEL_BAUDRATE_TABLE = {
"sts3215": STS_SERIES_BAUDRATE_TABLE,
"sts3250": STS_SERIES_BAUDRATE_TABLE,
"scs0009": SCS_SERIES_BAUDRATE_TABLE,
"sm8512bl": SM_SERIES_BAUDRATE_TABLE,
}
# High number of retries is needed for feetech compared to dynamixel motors.