Diff: MX.h

Revision:

19:16d5f8a3311f

Parent:

17:6f85605f793d

Child:

20:029e0fe30b0a

--- a/MX.h	Fri Jul 26 12:40:22 2019 +0000
+++ b/MX.h	Tue Oct 22 12:39:36 2019 +0000
@@ -42,7 +42,7 @@
 //#define OPERATING_MODE_DEBUG 1
 //#define SETBAUD_DEBUG 1
 
-//#define SYNC_TORQUE_ENABLE_DEBUG 1
+#define SYNC_TORQUE_ENABLE_DEBUG 1
 //#define SYNC_SETGOAL_DEBUG 1
 //#define SYNC_GETPOSITION_DEBUG 1
 //#define SYNC_SENDPACKET_DEBUG 1
@@ -50,8 +50,8 @@
 //#define SYNC_READPACKET_DEBUG_PACKETONLY 1
 //#define SYNC_SET_BAUD_DEBUG 1
 //#define SYNC_GOAL_CURRENT_DEBUG 1  
+#define SYNC_OPERATING_MODE_DEBUG 1
 
-  
   // Protocol 2.0 
 // N.B. all Register values are in HEX, on the on-line manual all are in DEC
 #define MX_REG_ID 0x7
@@ -69,6 +69,7 @@
 #define MX_REG_PRESENT_CURRENT 0x7E
 #define MX_REG_GOAL_CURRENT 0x66
 #define MX_REG_CURRENT_LIMIT 0x26
+#define MX_REG_GOAL_PWM 0x64
 #define MX_OFF 0
 #define MX_ON 1
 
@@ -213,6 +214,7 @@
     int SyncCurrentLimit(float mAmpere[]);
     int SyncOperatingMode(int mode[], int ID);
     int SyncSetBaud(int MotorBaud[], int ID);
+    int SyncGoalPWM(float values[], int ID);
        
 private :