L7/L10 BUG

Author: hejianxin79

LinkerHand/core/linker_hand_l10_can.py

@@ -195,9 +195,11 @@ def get_temperature(self):
         self.get_motor_temperature()
         return self.x33+self.x34
 
-    def get_torque(self): 
-        self.send_frame(0x02,[])
-        return self.x02
+    def get_torque(self):
+        '''暂不支持'''
+        # self.send_frame(0x02,[])
+        # return self.x02
+        return [None] * 5
     def get_fault(self):
         '''获取电机故障'''
         self.get_motor_fault_code()

LinkerHand/core/linker_hand_l7_can.py

@@ -160,9 +160,11 @@ def get_current(self):
         '''暂不支持'''
         return [-1] * 7
     def get_torque(self):
-        self.send_frame(0x02, [])
-        time.sleep(0.001)
-        return self.x02
+        '''暂不支持'''
+        # self.send_frame(0x02, [])
+        # time.sleep(0.001)
+        # return self.x02
+        return [None] * 7
     def get_force(self):
         '''获取压力'''
         return [self.normal_force,self.tangential_force , self.tangential_force_dir , self.approach_inc]