configure_motor.py says it's increasing the max acceleration of feetech motors, but is decreasing it

[jbrownkramer]

I built my SO ARM 100s before reading the huggingface instructions, so I am trying to retroactively setup the servos properly. I looked into configure_motor.py to see what it was doing so I could configure it manually, and I notice that for Feetech motors it sets Maximum_Acceleration to 254 to " speedup acceleration and deceleration of the motors". I read that value from all of the servos in both arms and the setting I was shipped with is 306, which, I assume, means faster acceleration and deceleration than 254.

[pkooij]

Thanks for letting us know, I looked into this and looked at the sheet (https://docs.google.com/spreadsheets/d/1GVs7W1VS1PqdhA1nW-abeyAHhTUxKUdR/edit?gid=364516031#gid=364516031) with all the values that we can read and write. There it states that the maximum is 254, I think your reading of 306 could be because we didn't flush the motorbus before we did a read, which means the data can be incorrect. This will be fixed and there is already a PR open for this.