robot arm demo team / AX-12A

Provides an interface to an AX-12A servo. Requires the Dynamixel bus protocol library/

Fork of AX-12A by Jonathan Pickett

Diff: AX12.cpp

Revision:
9:705f671a7498
Parent:
8:b6979be5a0a7
Child:
10:e4c9b94b5879
--- a/AX12.cpp	Thu Dec 31 20:02:50 2015 +0000
+++ b/AX12.cpp	Wed Jan 06 22:25:31 2016 +0000
@@ -265,6 +265,9 @@
         case NA_Rotate:
             return true;
 
+        case NA_ClearError:
+            return true;
+            
         default:
             return false;
     }
@@ -280,6 +283,11 @@
             _LastError = SetGoal(actionValue);
             return _LastError == statusValid;
 
+        case NA_ClearError:
+            _LastError = TorqueEnable(false);
+            _LastError = TorqueEnable(true);
+            return _LastError == statusValid;
+
         default:
             return instructionError;
     }