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Add Feetech protocol version

This commit is contained in:
Simon Alibert 2025-04-09 10:26:30 +02:00
parent 782dff1163
commit 034171a89a
1 changed files with 3 additions and 2 deletions
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5
lerobot/common/motors/feetech/feetech.py
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@ -31,7 +31,7 @@ from .tables import (
SCAN_BAUDRATES, SCAN_BAUDRATES,
) )
PROTOCOL_VERSION = 0 DEFAULT_PROTOCOL_VERSION = 0
BAUDRATE = 1_000_000 BAUDRATE = 1_000_000
DEFAULT_TIMEOUT_MS = 1000 DEFAULT_TIMEOUT_MS = 1000
@ -97,6 +97,7 @@ class FeetechMotorsBus(MotorsBus):
port: str, port: str,
motors: dict[str, Motor], motors: dict[str, Motor],
calibration: dict[str, MotorCalibration] | None = None, calibration: dict[str, MotorCalibration] | None = None,
protocol_version: int = DEFAULT_PROTOCOL_VERSION,
): ):
super().__init__(port, motors, calibration) super().__init__(port, motors, calibration)
import scservo_sdk as scs import scservo_sdk as scs
@ -106,7 +107,7 @@ class FeetechMotorsBus(MotorsBus):
self.port_handler.setPacketTimeout = patch_setPacketTimeout.__get__( self.port_handler.setPacketTimeout = patch_setPacketTimeout.__get__(
self.port_handler, scs.PortHandler self.port_handler, scs.PortHandler
) )
self.packet_handler = scs.PacketHandler(PROTOCOL_VERSION) self.packet_handler = scs.PacketHandler(protocol_version)
self.sync_reader = scs.GroupSyncRead(self.port_handler, self.packet_handler, 0, 0) 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.sync_writer = scs.GroupSyncWrite(self.port_handler, self.packet_handler, 0, 0)
self._comm_success = scs.COMM_SUCCESS self._comm_success = scs.COMM_SUCCESS