+ Rj(Rt^RIt^RIt^RIt^RIHt^RIHtRtRt Rt Rt R]P,] , t ] R]P,, t^(t^?t^t^7t^ t^^^utttR R lt!R R 4tR#) u&Shared Feetech STS bus helper — refactored from our_feetech_controller so the calibration + live-mirror tools share one connection/read/zero implementation. Importing this module monkey-patches scservo_sdk (via scservo_patch) so methods take (motor_id, ...) without an explicit portHandler. N) PortHandler)sms_stsz/dev/tty.usbserial-0001iiig@c>W\, ,\,#)zCSigned servo tick -> URDF radians about the joint zero (tick 2048).) CENTER_TICK TICKS_TO_RAD)tickssigns&&feetech_bus.py ticks_to_radr s ;& ', 66cfa]tRt^#to]]3RltRtRtRt Rt R Rlt Rt R Rlt R tR tVtR #)Busc\V4VnVPP4'g\RV 24hVPP V4'g\RV 24h\ VP4VnR#)zFailed to open serial port zFailed to set baud N)rportopenPort RuntimeError setBaudRatersts)selfrbauds&&&r __init__ Bus.__init__$sl% yy!!##! the joint is back-drivable by hand.N)r writeTxRxADDR_TORQUE_ENABLE)rrons&&&r torque Bus.torque8s" 3 2ARQ7GHr c \V4F~p^.^,pW\&^V\&\V\&VP P VP PV4wr5pV^8XdR#\P!R4K R#)z|INST_OFSCAL: make the servo's CURRENT physical position read as 2048. Persists to EEPROM, so the zero survives power cycles.T皙?F) range_PKT_ID _PKT_LENGTH INST_OFSCAL_PKT_INSTRUCTIONr txRxPacket portHandlertimesleep)rrretriesrtxresults&&& r set_zero_hereBus.set_zero_here<svwAqBwKB{O#.B 88..txx/C/CRHLAq{ JJsO r c VPPV\^^.4\P!R4VPPV\ ^V.4\P!R4VP V4'gR#VPPV\^^.4\P!R4VP V4#)a>Change a servo's EEPROM id. Only ONE servo should share old_id on the bus. Unlock -> write id -> relock (via the new id) -> verify. The servo often changes its id before acking the write (SDK reports RX timeout), so we verify by pinging the new id rather than trusting the write's return code. Returns True on success.g?F)rr- ADDR_LOCKr;r<ADDR_IDr)rold_idnew_ids&&&r set_id Bus.set_idJs 69a!5 4 67Ax8 4yy   69a!5 4yy  r c \V4FLp\P!R4VPP V4wrEpV^8XdV^8XdVu#KLKN R# \ dK`i;i)zORead position tolerantly right after INST_OFSCAL (reply can be slow/truncated).r3N)r4r;r<rr" IndexError)rrtriesrprrs&&& r read_pos_settleBus.read_pos_settleYsjuA JJsO #xx//4 19H"*9   s-A A-,A-c:VPP4R#)N)r closePort)rs&r close Bus.closees r )rrN)))__name__ __module__ __qualname____firstlineno__USB_PORT_DEFAULT BAUD_DEFAULTrrr$r*r0r@rGrMrQ__static_attributes____classdictcell__) __classdict__s@r r r #s=,<&&**I  ! r r ))__doc__mathr; scservo_patch scservo_sdkrscservo_sdk.sms_stsrrYrZr TICKS_PER_REVpir RAD_TO_TICKSr.r(rDrCr7r5r6r8r r r r rhs  #',   dgg . dgg .      )*Aq&&7 CCr