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address minor review comments

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This commit is contained in:
Steven Palma
2026-04-12 11:27:59 +02:00
parent 8ef4d78178
commit 87528186c0
17 changed files with 120 additions and 78 deletions
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tests/mocks/mock_dynamixel.py
+17 -2
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@@ -21,10 +21,25 @@ import dynamixel_sdk as dxl
import serial
from mock_serial.mock_serial import MockSerial
from lerobot.motors.dynamixel.dynamixel import _split_into_byte_chunks
from .mock_serial_patch import WaitableStub
def _split_into_byte_chunks(value: int, length: int) -> list[int]:
"""Split an integer into a list of byte-sized integers (little-endian)."""
if length == 1:
data = [value]
elif length == 2:
data = [dxl.DXL_LOBYTE(value), dxl.DXL_HIBYTE(value)]
elif length == 4:
data = [
dxl.DXL_LOBYTE(dxl.DXL_LOWORD(value)),
dxl.DXL_HIBYTE(dxl.DXL_LOWORD(value)),
dxl.DXL_LOBYTE(dxl.DXL_HIWORD(value)),
dxl.DXL_HIBYTE(dxl.DXL_HIWORD(value)),
]
return data
# https://emanual.robotis.com/docs/en/dxl/crc/
DXL_CRC_TABLE = [
0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,