From d9af2f1b897a9573662eac6679eb69c072183175 Mon Sep 17 00:00:00 2001 From: Pepijn Date: Fri, 11 Jul 2025 10:17:55 +0200 Subject: [PATCH] set direction bit --- src/lerobot/motors/feetech/tables.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/src/lerobot/motors/feetech/tables.py b/src/lerobot/motors/feetech/tables.py index 18aa27061..4a503a291 100644 --- a/src/lerobot/motors/feetech/tables.py +++ b/src/lerobot/motors/feetech/tables.py @@ -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