wangzixiang
/
lerobot
mirror of https://github.com/huggingface/lerobot.git
1
0
Fork 0
Code Issues Packages Projects Releases Wiki Activity

Simplify split_int_bytes

This commit is contained in:
Simon Alibert 2025-03-23 11:55:39 +01:00
parent 1f1e1bcfe8
commit a2f5c34625
2 changed files with 4 additions and 14 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

9
lerobot/common/motors/dynamixel/dynamixel.py
View File

@ -100,14 +100,9 @@ class DynamixelMotorsBus(MotorsBus):
# Note: No need to convert back into unsigned int, since this byte preprocessing # Note: No need to convert back into unsigned int, since this byte preprocessing
# already handles it for us. # already handles it for us.
if n_bytes == 1: if n_bytes == 1:
data = [ data = [value]
dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),
]
elif n_bytes == 2: elif n_bytes == 2:
data = [ data = [dxl.DXL_LOBYTE(value), dxl.DXL_HIBYTE(value)]
dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),
dxl.DXL_HIBYTE(dxl.DXL_LOWORD(value)),
]
elif n_bytes == 4: elif n_bytes == 4:
data = [ data = [
dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)), dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),

9
lerobot/common/motors/feetech/feetech.py
View File

@ -88,14 +88,9 @@ class FeetechMotorsBus(MotorsBus):
# Note: No need to convert back into unsigned int, since this byte preprocessing # Note: No need to convert back into unsigned int, since this byte preprocessing
# already handles it for us. # already handles it for us.
if n_bytes == 1: if n_bytes == 1:
data = [ data = [value]
scs.SCS_LOBYTE(scs.SCS_LOWORD(value)),
]
elif n_bytes == 2: elif n_bytes == 2:
data = [ data = [scs.SCS_LOBYTE(value), scs.SCS_HIBYTE(value)]
scs.SCS_LOBYTE(scs.SCS_LOWORD(value)),
scs.SCS_HIBYTE(scs.SCS_LOWORD(value)),
]
elif n_bytes == 4: elif n_bytes == 4:
data = [ data = [
scs.SCS_LOBYTE(scs.SCS_LOWORD(value)), scs.SCS_LOBYTE(scs.SCS_LOWORD(value)),