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https://github.com/huggingface/lerobot.git
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Simon Alibert
81 lines
2.2 KiB
Python
81 lines
2.2 KiB
Python
# See this link for STS3215 Memory Table:
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# https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?usp=sharing&ouid=116566590112741600240&rtpof=true&sd=true
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# data_name: (address, size_byte)
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SCS_SERIES_CONTROL_TABLE = {
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"Model": (3, 2),
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"ID": (5, 1),
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"Baud_Rate": (6, 1),
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"Return_Delay": (7, 1),
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"Response_Status_Level": (8, 1),
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"Min_Angle_Limit": (9, 2),
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"Max_Angle_Limit": (11, 2),
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"Max_Temperature_Limit": (13, 1),
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"Max_Voltage_Limit": (14, 1),
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"Min_Voltage_Limit": (15, 1),
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"Max_Torque_Limit": (16, 2),
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"Phase": (18, 1),
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"Unloading_Condition": (19, 1),
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"LED_Alarm_Condition": (20, 1),
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"P_Coefficient": (21, 1),
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"D_Coefficient": (22, 1),
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"I_Coefficient": (23, 1),
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"Minimum_Startup_Force": (24, 2),
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"CW_Dead_Zone": (26, 1),
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"CCW_Dead_Zone": (27, 1),
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"Protection_Current": (28, 2),
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"Angular_Resolution": (30, 1),
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"Offset": (31, 2),
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"Mode": (33, 1),
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"Protective_Torque": (34, 1),
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"Protection_Time": (35, 1),
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"Overload_Torque": (36, 1),
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"Speed_closed_loop_P_proportional_coefficient": (37, 1),
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"Over_Current_Protection_Time": (38, 1),
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"Velocity_closed_loop_I_integral_coefficient": (39, 1),
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"Torque_Enable": (40, 1),
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"Acceleration": (41, 1),
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"Goal_Position": (42, 2),
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"Goal_Time": (44, 2),
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"Goal_Speed": (46, 2),
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"Torque_Limit": (48, 2),
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"Lock": (55, 1),
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"Present_Position": (56, 2),
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"Present_Speed": (58, 2),
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"Present_Load": (60, 2),
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"Present_Voltage": (62, 1),
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"Present_Temperature": (63, 1),
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"Status": (65, 1),
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"Moving": (66, 1),
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"Present_Current": (69, 2),
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# Not in the Memory Table
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"Maximum_Acceleration": (85, 2),
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}
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SCS_SERIES_BAUDRATE_TABLE = {
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0: 1_000_000,
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1: 500_000,
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2: 250_000,
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3: 128_000,
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4: 115_200,
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5: 57_600,
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6: 38_400,
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7: 19_200,
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}
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MODEL_CONTROL_TABLE = {
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"scs_series": SCS_SERIES_CONTROL_TABLE,
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"sts3215": SCS_SERIES_CONTROL_TABLE,
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}
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MODEL_RESOLUTION = {
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"scs_series": 4096,
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"sts3215": 4096,
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}
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MODEL_BAUDRATE_TABLE = {
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"scs_series": SCS_SERIES_BAUDRATE_TABLE,
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"sts3215": SCS_SERIES_BAUDRATE_TABLE,
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}
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CALIBRATION_REQUIRED = ["Goal_Position", "Present_Position"]
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