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feat(robot): Make SO follower P coefficient configurable (#4142)

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* Make SO follower P coefficient configurable

* chore(test): minimize tests

* feat(robots): expose PID coeff in SO arms

---------

Co-authored-by: taivu1998 <46636857+taivu1998@users.noreply.github.com>
This commit is contained in:
Steven Palma
2026-07-24 16:03:04 +02:00
committed by GitHub
parent d3bed0feee
commit 53843007ea
4 changed files with 33 additions and 5 deletions
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tests/robots/test_so100_follower.py
+19
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@@ -109,3 +109,22 @@ def test_send_action(follower):
goal_pos = {m: (i + 1) * 10 for i, m in enumerate(follower.bus.motors)}
follower.bus.sync_write.assert_called_once_with("Goal_Position", goal_pos)
def test_configure_writes_position_pid_coefficients():
bus_mock = _make_bus_mock()
bus_mock.motors = ["shoulder_pan"]
robot = MagicMock()
robot.bus = bus_mock
robot.config = SO100FollowerConfig(
port="/dev/null",
position_p_coefficient=32,
position_i_coefficient=1,
position_d_coefficient=16,
)
SO100Follower.configure(robot)
bus_mock.write.assert_any_call("P_Coefficient", "shoulder_pan", 32)
bus_mock.write.assert_any_call("I_Coefficient", "shoulder_pan", 1)
bus_mock.write.assert_any_call("D_Coefficient", "shoulder_pan", 16)