Team DIANA / Mbed OS Arm_dynamixel_can_procedurale

FOrk

Dependencies:   Servo AX12_final MX106_not_working comunication_1

Diff: MX.cpp

Revision:
22:ffb26af4d5d8
Parent:
12:6ac3cac5677c
--- a/MX.cpp	Fri Jun 21 07:42:44 2019 +0000
+++ b/MX.cpp	Mon Jul 29 22:34:34 2019 +0000
@@ -274,6 +274,7 @@
 
     // write the packet, return the error code
     _line.write(_ID, MX_REG_MOVING_SPEED, 2, data);
+    
 }
 
 //void MX::setCRSpeed(float speed) {
@@ -301,3 +302,10 @@
     float temp = data[0];
     return (temp);
 }
+float MX::getTorqueMax(void) {
+    char data [1];
+    int ErrorCode = _line.read(_ID, MX_REG_MAXTORQUE, 1, data);
+    float limit = data[0];
+    return limit;
+    
+}