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Add better hls table

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Pepijn
2025-07-10 10:56:47 +02:00
parent 0136912fa4
commit c9cff132c3
1 changed files with 147 additions and 62 deletions
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src/lerobot/motors/feetech/tables.py
+147 -62
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@@ -153,57 +153,91 @@ SCS_SERIES_CONTROL_TABLE = {
# http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SMS-STS-emanual-229f4476422d4059abfb1cb0 # http://doc.feetech.cn/#/prodinfodownload?srcType=FT-SMS-STS-emanual-229f4476422d4059abfb1cb0
HLS_SERIES_CONTROL_TABLE = { HLS_SERIES_CONTROL_TABLE = {
# EPROM # Version Information (0-4) - read-only
"Firmware_Major_Version": FIRMWARE_MAJOR_VERSION, # read-only "Firmware_Major_Version": FIRMWARE_MAJOR_VERSION, # (0, 1) read-only
"Firmware_Minor_Version": FIRMWARE_MINOR_VERSION, # read-only "Firmware_Minor_Version": FIRMWARE_MINOR_VERSION, # (1, 1) read-only
"Model_Number": MODEL_NUMBER, # read-only "End_Type": (2, 1), # read-only - 0 represents little-endian storage
"ID": (5, 1), "Model_Number": MODEL_NUMBER, # (3, 2) read-only
"Baud_Rate": (6, 1), # EPROM configuration (5-39)
"Return_Delay_Time": (7, 1), "ID": (5, 1), # Main ID - unique identifier on bus
"Response_Status_Level": (8, 1), "Baud_Rate": (6, 1), # 0-7 for different baud rates
"Min_Position_Limit": (9, 2), "Secondary_ID": (7, 1), # Secondary ID for write instructions
"Max_Position_Limit": (11, 2), "Response_Status_Level": (8, 1), # 0: limited response, 1: full response
"Max_Temperature_Limit": (13, 1), "Min_Position_Limit": (9, 2), # 0-4094 (0.087 degrees per unit)
"Max_Voltage_Limit": (14, 1), "Max_Position_Limit": (11, 2), # 1-4095 (0.087 degrees per unit)
"Min_Voltage_Limit": (15, 1), "Max_Temperature_Limit": (13, 1), # 0-100 (°C)
"Max_Torque_Limit": (16, 2), "Max_Voltage_Limit": (14, 1), # 0-254 (0.1V per unit)
"Phase": (18, 1), "Min_Voltage_Limit": (15, 1), # 0-254 (0.1V per unit)
"Unloading_Condition": (19, 1), "Max_Torque_Limit": (16, 2), # 0-1000 (0.1% per unit)
"LED_Alarm_Condition": (20, 1), "Phase": (18, 1), # Special function byte for motor phase configuration
"P_Coefficient": (21, 1), "Unloading_Condition": (19, 1), # Bit flags for protection conditions
"D_Coefficient": (22, 1), "LED_Alarm_Condition": (20, 1), # Bit flags for LED alarm conditions
"I_Coefficient": (23, 1), "P_Coefficient": (21, 1), # Position ring P proportional coefficient
"Minimum_Startup_Force": (24, 2), "D_Coefficient": (22, 1), # Position ring D differential coefficient
"CW_Dead_Zone": (26, 1), "I_Coefficient": (23, 1), # Position ring I integral coefficient
"CCW_Dead_Zone": (27, 1), "Minimum_Startup_Force": (24, 1), # 0-254 (0.1% per unit)
"Protection_Current": (28, 2), "Point_Limit_Value": (25, 1), # 0-254 - maximum point value = point_limit * 4
"Homing_Offset": (31, 2), "CW_Dead_Zone": (26, 1), # 0-16 (0.087 degrees per unit)
"Operating_Mode": (33, 1), "CCW_Dead_Zone": (27, 1), # 0-16 (0.087 degrees per unit)
"P_Coefficient_Curr": (34, 1), "Protection_Current": (28, 2), # 0-2047 (6.5 mA per unit)
"I_Coefficient_Curr": (35, 1), "Angle_Resolution": (30, 1), # 1-128 - amplification coefficient
# SRAM "Homing_Offset": (31, 2), # -4095 to 4095 (0.087 degrees per unit)
"Torque_Enable": (40, 1), "Operating_Mode": (33, 1), # 0: position, 1: speed, 2: current, 3: PWM
"Acceleration": (41, 1), "P_Coefficient_Curr": (34, 1), # Current ring P proportional coefficient
"Goal_Position": (42, 2), "I_Coefficient_Curr": (35, 1), # Current ring I integral coefficient
"Target_Torque": (44, 2), # Address 36 undefined
"Goal_Velocity": (46, 2), "Speed_P_Coefficient": (37, 1), # Speed closed-loop P proportional coefficient
"Torque_Limit": (48, 2), "Overcurrent_Protection_Time": (38, 1), # 0-254 (10ms per unit)
"P_Coefficient_Ring": (50, 1), "Speed_I_Coefficient": (39, 1), # Speed closed-loop I integral coefficient
"D_Coefficient_Ring": (51, 1), # SRAM control (40-55)
"I_Coefficient_Ring": (52, 1), "Torque_Enable": (40, 1), # 0: off, 1: on, 2: damping
"km": (53, 1), "Acceleration": (41, 1), # 0-254 (8.7 degrees/second² per unit)
"Lock": (55, 1), "Goal_Position": (42, 2), # -32767 to 32767 (0.087 degrees per unit)
# SRAM feedback "Target_Torque": (44, 2), # -2047 to 2047 (6.5 mA per unit)
"Present_Position": (56, 2), "Goal_Velocity": (46, 2), # -32767 to 32767 (0.732 RPM per unit)
"Present_Velocity": (58, 2), "Torque_Limit": (48, 2), # 0-1000 (0.1% per unit)
"Present_Load": (60, 2), "P_Coefficient_Ring": (50, 1), # Motor position ring proportional coefficient
"Present_Voltage": (62, 1), "D_Coefficient_Ring": (51, 1), # Motor position ring differential coefficient
"Present_Current": (69, 2), "I_Coefficient_Ring": (52, 1), # Motor position ring integral coefficient
"Present_Bias": (73, 2), "km": (53, 1), # 0: position+current dual loop, 1: position single loop
# Factory # Address 54 undefined
"Maximum_Velocity_Limit": (84, 1), "Lock": (55, 1), # 0: close write lock, 1: open write lock
"Maximum_Acceleration": (85, 1), # SRAM feedback (56-73) - read-only
"Acceleration_Multiplier ": (86, 1), # Acceleration multiplier in effect when acceleration is 0 "Present_Position": (56, 2), # read-only - current absolute position
"Present_Velocity": (58, 2), # read-only - current motor rotation speed
"Present_Load": (60, 2), # read-only - current load (0.1% per unit)
"Present_Voltage": (62, 1), # read-only - current voltage (0.1V per unit)
"Present_Temperature": (63, 1), # read-only - current temperature (°C)
"Async_Write_Flag": (64, 1), # read-only - async write instruction flag
"Status": (65, 1), # read-only - servo status bit flags
"Moving": (66, 1), # read-only - movement status flags
"Target_Position": (67, 2), # read-only - current target position
"Present_Current": (69, 2), # read-only - current motor phase current (6.5 mA per unit)
# Address 71 undefined
"Present_Bias": (73, 2), # read-only - current 0-point offset value
# Factory parameters (77-86) - read-only
"VFk_x10": (77, 1), # read-only - factory parameter
"vKgI": (78, 1), # read-only - factory parameter
"PFk_x10": (79, 1), # read-only - factory parameter
"Moving_Velocity_Threshold": (80, 1), # read-only - factory parameter
"DTs_ms": (81, 1), # read-only - factory parameter
"eFk_x10": (82, 1), # read-only - factory parameter
"Vk_ms": (83, 1), # read-only - factory parameter
"Maximum_Velocity_Limit": (84, 1), # read-only - factory parameter
"Maximum_Acceleration": (85, 1), # read-only - factory parameter
"Acceleration_Multiplier": (86, 1), # read-only - factory parameter
}
# HLS series baud rate table (same as STS/SMS series)
HLS_SERIES_BAUDRATE_TABLE = {
1_000_000: 0,
500_000: 1,
250_000: 2,
128_000: 3,
115_200: 4,
76_800: 5, # Note: HLS documentation mentions 76800 instead of 57600
57_600: 6,
38_400: 7,
} }
STS_SMS_SERIES_BAUDRATE_TABLE = { STS_SMS_SERIES_BAUDRATE_TABLE = {
@@ -258,7 +292,7 @@ MODEL_BAUDRATE_TABLE = {
"sts3215": STS_SMS_SERIES_BAUDRATE_TABLE, "sts3215": STS_SMS_SERIES_BAUDRATE_TABLE,
"sts3250": STS_SMS_SERIES_BAUDRATE_TABLE, "sts3250": STS_SMS_SERIES_BAUDRATE_TABLE,
"scs0009": SCS_SERIES_BAUDRATE_TABLE, "scs0009": SCS_SERIES_BAUDRATE_TABLE,
"hls3625": STS_SMS_SERIES_BAUDRATE_TABLE, "hls3625": HLS_SERIES_BAUDRATE_TABLE,
} }
# Sign-Magnitude encoding bits # Sign-Magnitude encoding bits
@@ -268,6 +302,18 @@ STS_SMS_SERIES_ENCODINGS_TABLE = {
"Present_Velocity": 15, "Present_Velocity": 15,
} }
# HLS series sign-magnitude encoding bits
HLS_SERIES_ENCODINGS_TABLE = {
"Homing_Offset": 15, # BIT15 represents positive/negative direction
# "Goal_Position": 15, # BIT15 represents positive/negative direction
"Target_Torque": 15, # BIT15 represents positive/negative direction in constant current mode
"Goal_Velocity": 15, # BIT15 represents positive/negative direction in constant speed mode
# "Present_Position": 15, # BIT15 represents positive/negative direction
"Present_Velocity": 15, # BIT15 represents positive/negative direction
"Present_Current": 15, # BIT15 represents positive/negative direction
"Present_Load": 10, # BIT10 represents positive/negative direction
}
MODEL_ENCODING_TABLE = { MODEL_ENCODING_TABLE = {
"sts_series": STS_SMS_SERIES_ENCODINGS_TABLE, "sts_series": STS_SMS_SERIES_ENCODINGS_TABLE,
"sms_series": STS_SMS_SERIES_ENCODINGS_TABLE, "sms_series": STS_SMS_SERIES_ENCODINGS_TABLE,
@@ -276,15 +322,7 @@ MODEL_ENCODING_TABLE = {
"sts3250": STS_SMS_SERIES_ENCODINGS_TABLE, "sts3250": STS_SMS_SERIES_ENCODINGS_TABLE,
"sm8512bl": STS_SMS_SERIES_ENCODINGS_TABLE, "sm8512bl": STS_SMS_SERIES_ENCODINGS_TABLE,
"scs0009": {}, "scs0009": {},
"hls3625": { "hls3625": HLS_SERIES_ENCODINGS_TABLE,
"Homing_Offset": 15,
"Goal_Velocity": 15,
"Present_Velocity": 15,
"Target_Torque": 15,
"Present_Position": 15,
"Goal_Position": 15,
"Present_Current": 15,
},
} }
SCAN_BAUDRATES = [ SCAN_BAUDRATES = [
@@ -317,5 +355,52 @@ MODEL_PROTOCOL = {
"sts3250": 0, "sts3250": 0,
"sm8512bl": 0, "sm8512bl": 0,
"scs0009": 1, "scs0009": 1,
"hls3625": 0, "hls3625": 0, # Uses FT-SCS protocol
} }
# HLS series special byte bit flag definitions
# These are used to interpret the bit flags in Phase, Status, Unloading_Condition, and LED_Alarm_Condition
# Phase byte (address 18) bit meanings:
# BIT0 (1): Current driving direction phase (0: forward, 1: reverse) - invalid in firmware 3.42+
# BIT1 (2): Current feedback direction phase (0: forward, 1: reverse)
# BIT2 (4): Drive bridge direction phase (0: forward, 1: reverse)
# BIT3 (8): Speed feedback direction phase (0: forward, 1: reverse)
# BIT4 (16): Angle feedback mode (0: single-circle angle, 1: full angle)
# BIT5 (32): Driver bridge configuration (0: independent H bridge, 1: integrated H bridge)
# BIT6 (64): PWM frequency (0: 24kHz, 1: 16kHz)
# BIT7 (128): Position feedback direction phase (0: forward, 1: reverse)
# Status byte (address 65) bit meanings (0: normal, 1: abnormal):
# BIT0 (1): Voltage status
# BIT1 (2): Magnetic coding state
# BIT2 (4): Temperature status
# BIT3 (8): Current status
# BIT4 (16): Reserved
# BIT5 (32): Load status
# BIT6 (64): Reserved
# BIT7 (128): Reserved
# Unloading_Condition byte (address 19) bit meanings (0: off, 1: on):
# BIT0 (1): Voltage protection
# BIT1 (2): Magnetic coding protection
# BIT2 (4): Overheating protection
# BIT3 (8): Overcurrent protection
# BIT4 (16): Reserved
# BIT5 (32): Load overload protection
# BIT6 (64): Reserved
# BIT7 (128): Reserved
# LED_Alarm_Condition byte (address 20) bit meanings (0: off, 1: on):
# BIT0 (1): Voltage alarm
# BIT1 (2): Magnetic coding alarm
# BIT2 (4): Overheating alarm
# BIT3 (8): Overcurrent alarm
# BIT4 (16): Reserved
# BIT5 (32): Load overload alarm
# BIT6 (64): Reserved
# BIT7 (128): Reserved
# Moving byte (address 66) bit meanings:
# BIT0 (1): Motor movement status (1: moving, 0: stopped)
# BIT1 (2): Target position status (0: reached target, 1: not reached target)