diff --git a/lerobot/common/robot_devices/motors/feetech.py b/lerobot/common/robot_devices/motors/feetech.py
index 94f5f5b7..39153af1 100644
--- a/lerobot/common/robot_devices/motors/feetech.py
+++ b/lerobot/common/robot_devices/motors/feetech.py
@@ -127,14 +127,14 @@ NUM_WRITE_RETRY = 20
 
 def convert_ticks_to_degrees(ticks, model):
     resolutions = MODEL_RESOLUTION[model]
-    # Convert the ticks to degrees 
-    return ticks * (360.0/resolutions)
+    # Convert the ticks to degrees
+    return ticks * (360.0 / resolutions)
 
 
 def convert_degrees_to_ticks(degrees, model):
     resolutions = MODEL_RESOLUTION[model]
     # Convert degrees to motor ticks
-    return int(degrees * (resolutions/360.0))
+    return int(degrees * (resolutions / 360.0))
 
 
 def adjusted_to_homing_ticks(
@@ -158,7 +158,7 @@ def adjusted_to_homing_ticks(
     drive_mode = 0
     if motorbus.calibration is not None:
         drive_mode = motorbus.calibration["drive_mode"][motor_id - 1]
-    
+
     if drive_mode:
         ticks *= -1
 
@@ -177,7 +177,7 @@ def adjusted_to_motor_ticks(
     drive_mode = 0
     if motorbus.calibration is not None:
         drive_mode = motorbus.calibration["drive_mode"][motor_id - 1]
-    
+
     if drive_mode:
         adjusted_pos *= -1
 
@@ -508,7 +508,6 @@ class FeetechMotorsBus:
         values = np.round(values).astype(np.int32)
         return values
 
-
     def read_with_motor_ids(self, motor_models, motor_ids, data_name, num_retry=NUM_READ_RETRY):
         if self.mock:
             import tests.mock_scservo_sdk as scs
@@ -736,4 +735,3 @@ class FeetechMotorsBus:
     def __del__(self):
         if getattr(self, "is_connected", False):
             self.disconnect()
-
diff --git a/lerobot/common/robot_devices/robots/feetech_calibration.py b/lerobot/common/robot_devices/robots/feetech_calibration.py
index 7986ee12..7f44fde7 100644
--- a/lerobot/common/robot_devices/robots/feetech_calibration.py
+++ b/lerobot/common/robot_devices/robots/feetech_calibration.py
@@ -161,7 +161,7 @@ def run_full_arm_calibration(arm: MotorsBus, robot_type: str, arm_name: str, arm
     print(f"\n calibration of {robot_type} {arm_name} {arm_type} done!")
 
     # Force drive_mode values: motors 2 and 5 -> drive_mode 1; all others -> 0. 1 = clockwise = positive range (0..180), 0 = clockwise = negative range (0..-180)
-    drive_modes = [0, 1, 0, 0, 1, 0] 
+    drive_modes = [0, 1, 0, 0, 1, 0]
 
     calib_dict = {
         "homing_offset": encoder_offsets.astype(int).tolist(),