hehesheng/robot_protocol_framework
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chore: adjust

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hehesheng 2025-01-21 19:15:18 +08:00
parent e391cbd6c7
commit b9886b50fd
1 changed files with 5 additions and 5 deletions
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A1_motor.py
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@ -49,11 +49,11 @@ class A1Motor(MotorInstance):
self.motor_name = "-".join([self.serial_path, str(id), str(int(time.time()))]) if motor_name is None else motor_name self.motor_name = "-".join([self.serial_path, str(id), str(int(time.time()))]) if motor_name is None else motor_name
self.serial = SerialPort(self.serial_path) self.serial = SerialPort(self.serial_path)
self.reduction_ratio = queryGearRatio(self.motor_type) self.reduction_ratio = queryGearRatio(self.motor_type)
self._tau = 0 self._tau = tau
self._dq = 0 self._dq = dq
self._q = 0 self._q = q
self._kp = 0 self._kp = kp
self._kd = 0 self._kd = kd
self.init_motor_cmd() self.init_motor_cmd()
self.init_motor_data() self.init_motor_data()