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set direction bit

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Pepijn
2025-07-11 10:17:55 +02:00
parent 57f7c8b03e
commit d9af2f1b89
1 changed files with 2 additions and 2 deletions
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src/lerobot/motors/feetech/tables.py
+2 -2
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@@ -305,10 +305,10 @@ STS_SMS_SERIES_ENCODINGS_TABLE = {
# 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
"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_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