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remove set phase

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This commit is contained in:
Pepijn
2025-07-10 12:27:43 +02:00
parent c9cff132c3
commit e9c795e479
2 changed files with 1 additions and 24 deletions
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src/lerobot/motors/feetech/feetech.py
+1 -1
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@@ -223,7 +223,7 @@ class FeetechMotorsBus(MotorsBus):
for motor in self.motors:
# By default, Feetech motors have a 500µs delay response time (corresponding to a value of 250 on
# the 'Return_Delay_Time' address). We ensure this is reduced to the minimum of 2µs (value of 0).
self.write("Return_Delay_Time", motor, 0)
# self.write("Return_Delay_Time", motor, 0)
# Set 'Maximum_Acceleration' to 254 to speedup acceleration and deceleration of the motors.
# Note: this address is not in the official STS3215 Memory Table
self.write("Maximum_Acceleration", motor, 254)
src/lerobot/robots/so101_follower_torque/so101_follower_t.py
-23
View File
@@ -327,34 +327,11 @@ class SO101FollowerT(Robot):
with self.bus.torque_disabled():
self.bus.configure_motors()
for motor in self.bus.motors:
phase = int(self.bus.read("Phase", motor, normalize=False))
if phase & 0x10: # bit-4 set = multi-turn
new_phase = phase & ~0x10
print(f"Switching {motor} to single-turn: 0x{phase:02X} → 0x{new_phase:02X}")
self.bus.write("Phase", motor, new_phase, normalize=False)
self.bus.write("Operating_Mode", motor, 2, num_retry=2) # Set to current mode
self.bus.write("Torque_Limit", motor, 1000, num_retry=2) # 100%
self.bus.write("Max_Torque_Limit", motor, 1000, num_retry=2) # 100%
self.bus.write("Return_Delay_Time", motor, 0, num_retry=2)
self.bus.write("Protection_Current", motor, 1000, num_retry=2)
# Disable interfering protection systems for better torque response
# Read current unloading condition and disable current/overload protection
current_unload = int(self.bus.read("Unloading_Condition", motor, normalize=False))
# Disable multiple protection systems that can interfere with torque control:
# Bit 32 (0x20): Load overload protection - causes torque limiting
# Bit 16 (0x10): Current protection - causes current limiting during high torque
# Bit 8 (0x08): Speed protection - can interfere with velocity control
safe_unload = current_unload & ~(32 | 16 | 8) # Remove bits 32, 16, 8
self.bus.write("Unloading_Condition", motor, safe_unload, num_retry=2)
print(f"Motor {motor}: Unloading condition 0x{current_unload:02X} → 0x{safe_unload:02X}")
print(
" Disabled: Load overload (bit 32), Current protection (bit 16), Speed protection (bit 8)"
)
def setup_motors(self) -> None:
for motor in reversed(self.bus.motors):
input(f"Connect the controller board to the '{motor}' motor only and press enter.")