PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

Diff: MX12.h

Revision:
25:bc51575e3304
Parent:
24:2ab26ed08c83
Child:
26:4632a02a8ef1
--- a/MX12.h	Sat Nov 13 10:12:09 2021 +0100
+++ b/MX12.h	Sat Nov 13 20:05:30 2021 +0100
@@ -13,11 +13,8 @@
 #define MX12_MAX_MOTOR_COUNT 16
 
 #define MX12_SPEED_QUANTA_RPM 0.916 /* Data from MX12 e-manual */
-#define MX12_ABSOLUTE_MAX_SPEED_RAD_S 98.1
-/* BOT_SERVO_SPEED_QUANTA_RAD_PER_SEC = BOT_SERVO_SPEED_QUANTA_RPM*2pi / 60s */
-#define BOT_SERVO_SPEED_QUANTA_RAD_PER_SEC 0.0959
-/* SERVO_FULL_SCALE_SPEED_RAD_PER_SEC = BOT_SERVO_SPEED_QUANTA_RAD_PER_SEC*1024 */
-#define SERVO_FULL_SCALE_SPEED_RAD_PER_SEC 98.13
+#define MX12_ABSOLUTE_MAX_SPEED_RAD_S 98.13
+
 
 
 /* Dynamixel protocol v1.0 : Instructions