Diff: dynamixel.h

Revision:

4:44560391db99

Parent:

3:e2e9064c668d

Child:

5:edccfcb47ab8

diff -r e2e9064c668d -r 44560391db99 dynamixel.h
--- a/dynamixel.h	Wed Feb 08 12:26:30 2017 +0800
+++ b/dynamixel.h	Wed Feb 08 15:49:35 2017 +0800
@@ -66,33 +66,33 @@
 
 
 //MX64 Register stanley///
+#define ID_ADDRESS        3
 #define GOAL_POSITION     30
 #define PRESENT_POS       36
-#define ID_ADDRESS        3
+#define RETURN_DELAY_TIME	5
 #define CW_ANGLE_LIMIT_L  6
 #define CW_ANGLE_LIMIT_H  7
 #define CCW_ANGLE_LIMIT_L 8
 #define CCW_ANGLE_LIMIT_H 9
-#define MOVING			46
-#define XL_MOVING		49
+#define MAX_TORQUE			14
+#define MULTITURN_OFFSET	20
 #define GOAL_POSITION	30
+#define GOAL_SPEED		32
+#define TORQUE_LIMIT	34
 #define PRESENT_POS		36
-#define ID_ADDRESS		3
-#define MOVING			46
-#define XL_MOVING		49
-#define CW_ANGLE_LIMIT_L  6
-#define CW_ANGLE_LIMIT_H  7
-#define CCW_ANGLE_LIMIT_L 8
-#define CCW_ANGLE_LIMIT_H 9
-#define ADDRESS_LED 0x19
+
+#define STILL_MOVING	46
+
+
+#define ADDRESS_LED 25
 
 
 //////////// high communication methods ///////////////////////
 void dxl_ping( int id );
 int dxl_read_byte( int id, int address );
 void dxl_write_byte( int id, int address, int value );
-int dxl_read_word( int id, int address );
-void dxl_write_word( int id, int address, int value );
+int dxl_read_word( short int id, short int address );
+void dxl_write_word( short int id, short int address, short int value );
 int syncWrite_u16base(short int start_addr, short int data_length, short int *param, short int param_length); // WORD(16bit) syncwrite() for DXL
 void setPosition(int ServoID, int Position, int Speed);//stanley