update python bindings

kscalelabs · Oct 12, 2024 · 7405935 · 7405935
1 parent 8dc9d30
commit 7405935
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Showing 2 changed files with 10 additions and 5 deletions.
diff --git a/actuator/rust/bindings/bindings.pyi b/actuator/rust/bindings/bindings.pyi
@@ -53,7 +53,7 @@ class PyRobstrideMotors:
 
 
 class PyRobstrideMotorsSupervisor:
-    def __new__(cls,port_name,motor_infos,verbose = ...): ...
+    def __new__(cls,port_name,motor_infos,verbose = ...,min_update_rate = ...,target_update_rate = ...): ...
     def set_position(self, motor_id:int, position:float) -> None:
         ...
 
@@ -69,9 +69,6 @@ class PyRobstrideMotorsSupervisor:
     def set_torque(self, motor_id:int, torque:float) -> None:
         ...
 
-    def set_sleep_duration(self, sleep_duration:float) -> None:
-        ...
-
     def add_motor_to_zero(self, motor_id:int) -> None:
         ...
 
@@ -99,4 +96,13 @@ class PyRobstrideMotorsSupervisor:
     def reset_command_counters(self) -> None:
         ...
 
+    def set_min_update_rate(self, rate:float) -> None:
+        ...
+
+    def set_target_update_rate(self, rate:float) -> None:
+        ...
+
+    def get_actual_update_rate(self) -> float:
+        ...
+
 
diff --git a/actuator/rust/bindings/src/lib.rs b/actuator/rust/bindings/src/lib.rs
@@ -8,7 +8,6 @@ use robstride::{
     MotorsSupervisor as RobstrideMotorsSupervisor,
 };
 use std::collections::HashMap;
-use std::time::Duration;
 
 #[gen_stub_pyclass]
 #[pyclass]