rafaelcaricio/Open_Duck_Mini_Runtime
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doesn't make sense to keep the usb_port argument in HWI

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apirrone 2025-04-25 17:36:50 +02:00
parent d16f47430c
commit 32e1d1c3ac
1 changed files with 2 additions and 3 deletions
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5
mini_bdx_runtime/mini_bdx_runtime/rustypot_position_hwi.py
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@ -6,7 +6,7 @@ from mini_bdx_runtime.duck_config import DuckConfig
class HWI: class HWI:
def __init__(self, duck_config: DuckConfig, usb_port: str = None): def __init__(self, duck_config: DuckConfig):
self.duck_config = duck_config self.duck_config = duck_config
@ -74,8 +74,7 @@ class HWI:
self.kds = np.ones(len(self.joints)) * 0 # default kd self.kds = np.ones(len(self.joints)) * 0 # default kd
self.low_torque_kps = np.ones(len(self.joints)) * 2 self.low_torque_kps = np.ones(len(self.joints)) * 2
usb_port = usb_port if usb_port else self.duck_config.serial_port self.io = rustypot.feetech(self.duck_config.serial_port, 1000000)
self.io = rustypot.feetech(usb_port, 1000000)
def set_kps(self, kps): def set_kps(self, kps):
self.kps = kps self.kps = kps