From 5bd41a3dca9f7f622ffeefd772062157ad572287 Mon Sep 17 00:00:00 2001 From: nepyope Date: Thu, 9 Jan 2025 18:14:01 +0100 Subject: [PATCH] added feetech failsafe comment --- lerobot/common/robot_devices/motors/feetech.py | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/lerobot/common/robot_devices/motors/feetech.py b/lerobot/common/robot_devices/motors/feetech.py index 8eb4bd6d..b0cb86b4 100644 --- a/lerobot/common/robot_devices/motors/feetech.py +++ b/lerobot/common/robot_devices/motors/feetech.py @@ -37,6 +37,14 @@ HALF_TURN_DEGREE = 180 # See this link for STS3215 Memory Table: # https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true # data_name: (address, size_byte) + +#####SAFETY CHECKS EXPLAINED##### +#There are two safety checks built-in: one is based on load and the other is based on current. +#Current: if Protection_Current > Present_Current we wait Over_Current_Protection_Time (expressed in ms) and set Torque_Enable to 0 +#Load: if Max_Torque_Limit*Overload_Torque (expressed as a percentage) > Present_Load, we wait Protection_Time (expressed in ms +#and set Max_Torque_Limit to Protective_Torque) +#Though we can specify Min-Max_Angle_Limit, Max_Temperature_Limit, Min-Max_Voltage_Limit, no safety checks are implemented for these values + STS_SERIES_CONTROL_TABLE = { "Model": (3, 2), "ID": (5, 1), @@ -87,6 +95,7 @@ STS_SERIES_CONTROL_TABLE = { "Maximum_Acceleration": (85, 2), } + SCS_SERIES_CONTROL_TABLE = { "Model": (3, 2), "ID": (5, 1),