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Subtract middle

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Pepijn
2025-07-01 18:09:36 +02:00
parent 63e2a2e129
commit 12d1629aae
2 changed files with 5 additions and 2 deletions
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lerobot/common/motors/feetech/tables.py
+1
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@@ -197,6 +197,7 @@ HLS_SERIES_CONTROL_TABLE = {
"Present_Load": (60, 2), "Present_Load": (60, 2),
"Present_Voltage": (62, 1), "Present_Voltage": (62, 1),
"Present_Current": (69, 2), "Present_Current": (69, 2),
"Present_Bias": (73, 2),
# Factory # Factory
"Maximum_Velocity_Limit": (84, 1), "Maximum_Velocity_Limit": (84, 1),
"Maximum_Acceleration": (85, 1), "Maximum_Acceleration": (85, 1),
lerobot/common/motors/motors_bus.py
+4 -2
View File
@@ -797,7 +797,8 @@ class MotorsBus(abc.ABC):
normalized_values[id_] = 100 - norm if drive_mode else norm normalized_values[id_] = 100 - norm if drive_mode else norm
elif self.motors[motor].norm_mode is MotorNormMode.DEGREES: elif self.motors[motor].norm_mode is MotorNormMode.DEGREES:
deg = bounded_val * COUNT_TO_DEG deg = bounded_val * COUNT_TO_DEG
normalized_values[id_] = -deg if drive_mode else deg deg_zero = deg - 180 # Subtract 180 degrees because 2047 (raw count) should be 0 degrees
normalized_values[id_] = -deg_zero if drive_mode else deg_zero
else: else:
raise NotImplementedError raise NotImplementedError
@@ -826,7 +827,8 @@ class MotorsBus(abc.ABC):
unnormalized_values[id_] = int((bounded_val / 100) * (max_ - min_) + min_) unnormalized_values[id_] = int((bounded_val / 100) * (max_ - min_) + min_)
elif self.motors[motor].norm_mode is MotorNormMode.DEGREES: elif self.motors[motor].norm_mode is MotorNormMode.DEGREES:
val = -val if drive_mode else val val = -val if drive_mode else val
raw_counts = int(round(val / COUNT_TO_DEG)) deg = val + 180 # Add 180 degrees because 0 degrees should be 2047 (raw count)
raw_counts = int(round(deg / COUNT_TO_DEG))
unnormalized_values[id_] = raw_counts unnormalized_values[id_] = raw_counts
else: else:
raise NotImplementedError raise NotImplementedError