Steven Palma 7d615acf9a fix(robots): retry SO follower/leader bus reads on transient Feetech errors (#4207) ...

* fix(robots): retry SO follower/leader bus reads on transient Feetech errors

SO-100/SO-101 teleoperation aborts when a sync_read of Present_Position
returns a corrupted status packet ("Incorrect status packet!"), which the
Feetech bus emits intermittently under load. The read path already supports
a num_retry argument but the SO follower and leader never used it, so a single
transient failure crashed the control loop.

Add a max_read_retry config option (default 3) to SOFollowerConfig and
SOLeaderConfig and forward it to every Present_Position sync_read. Retries are
immediate and only happen on failure, so the steady-state read cost is
unchanged; set max_read_retry=0 to restore the previous behavior.

Fixes #3131

* chore(robots): change defaults

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Co-authored-by: isaka1022 <isaka1022@gmail.com>

2026-07-29 15:20:14 +02:00

..

test_damiao.py

feat(motors): add damiao motors & can bus (#2788)

2026-01-26 17:53:25 +01:00

test_dynamixel.py

fix(robots): add retries while recording motor ranges (#4126)

2026-07-23 18:41:48 +02:00

test_feetech.py

fix(robots): retry SO follower/leader bus reads on transient Feetech errors (#4207)

2026-07-29 15:20:14 +02:00

test_motors_bus.py

feat(dependencies): minimal default tag install (#3362)

2026-04-12 20:03:04 +02:00