making mscl import robust across mscl verions

Author: VarunSatyadevShetty

opensourceleg/sensors/encoder.py

@@ -397,7 +397,7 @@ def encoder_map(self) -> Optional[np.polynomial.polynomial.Polynomial]:
     knee_enc = AS5048B(
         tag="knee",
         bus="/dev/i2c-2",
-        A1_adr_pin=True,
+        A1_adr_pin=False,
         A2_adr_pin=False,
         zero_position=0,
     )
@@ -406,7 +406,7 @@ def encoder_map(self) -> Optional[np.polynomial.polynomial.Polynomial]:
         tag="ankle",
         bus="/dev/i2c-3",
         A1_adr_pin=False,
-        A2_adr_pin=True,
+        A2_adr_pin=False,
         zero_position=0,
     )
 

opensourceleg/sensors/imu.py

@@ -95,11 +95,16 @@ def __init__(
         """
         # Attempt to import the MSCL library and add its path.
         try:
-            import sys
-
-            sys.path.append("/usr/share/python3-mscl")
-
-            import mscl
+            try:
+                import mscl
+            except (ImportError, ModuleNotFoundError):
+                # Falling back to old method of appending to sys.path for importing older versions of mscl
+                import sys
+
+                legacy_path = "/usr/share/python3-mscl"
+                if legacy_path not in sys.path:
+                    sys.path.append(legacy_path)
+                import mscl
 
             self.mscl = mscl
         except ImportError:

tutorials/sensors/reading_encoder_data.py

@@ -13,9 +13,9 @@
     clock = SoftRealtimeLoop(dt=DT)
     encoder = AS5048B(
         tag="encoder1",
-        bus="/dev/i2c-1",
+        bus="/dev/i2c-2",
         A1_adr_pin=False,
-        A2_adr_pin=True,
+        A2_adr_pin=False,
         zero_position=0,
         enable_diagnostics=False,
     )

tutorials/sensors/reading_imu_data.py

@@ -13,7 +13,7 @@
     clock = SoftRealtimeLoop(dt=DT)
     imu = LordMicrostrainIMU(
         tag="LordMicrostrainIMU",
-        port=r"/dev/ttyS0",
+        port=r"/dev/ttyAMA1",
         baud_rate=921600,
         frequency=FREQUENCY,
         update_timeout=500,