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added feetech failsafe comment

This commit is contained in:
nepyope 2025-01-09 18:14:01 +01:00
parent f996a13f70
commit 5bd41a3dca
1 changed files with 9 additions and 0 deletions
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9
lerobot/common/robot_devices/motors/feetech.py
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@ -37,6 +37,14 @@ HALF_TURN_DEGREE = 180
# See this link for STS3215 Memory Table: # See this link for STS3215 Memory Table:
# https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true # https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true
# data_name: (address, size_byte) # 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 = { STS_SERIES_CONTROL_TABLE = {
"Model": (3, 2), "Model": (3, 2),
"ID": (5, 1), "ID": (5, 1),
@ -87,6 +95,7 @@ STS_SERIES_CONTROL_TABLE = {
"Maximum_Acceleration": (85, 2), "Maximum_Acceleration": (85, 2),
} }
SCS_SERIES_CONTROL_TABLE = { SCS_SERIES_CONTROL_TABLE = {
"Model": (3, 2), "Model": (3, 2),
"ID": (5, 1), "ID": (5, 1),