Zachary Lang / MX28

Object for MX28 with rs485

Fork of MX28 by Gert Lauritsen

Files at this revision

API Documentation at this revision

Revision 2:6801e89014fa, committed 2017-07-06

Comitter:
LangZachary
Date:
Thu Jul 06 00:38:06 2017 +0000
Parent:
1:c866ce96ceb3
Commit message:
General code cleaning, IMU setup, initializing data command receiving from NUC

Changed in this revision

Mx28.h Show annotated file Show diff for this revision Revisions of this file 
diff -r c866ce96ceb3 -r 6801e89014fa Mx28.h
--- a/Mx28.h	Wed Sep 10 13:06:35 2014 +0000
+++ b/Mx28.h	Thu Jul 06 00:38:06 2017 +0000
@@ -46,9 +46,9 @@
 // RAM AREA  
 #define RAM_TORQUE_ENABLE               0x18
 #define RAM_LED                         0x19
-#define RAM_PROPORTIONAL_GAIN           0x1A
+#define RAM_DERIVATIVE_GAIN             0x1A
 #define RAM_INTERGRAL_GAIN              0x1B
-#define RAM_DERIVATIVE_GAIN             0x1C
+#define RAM_PROPORTIONAL_GAIN           0x1C
 #define RAM_GOAL_POSITION_L             0x1E
 #define RAM_GOAL_POSITION_H             0x1F
 #define RAM_GOAL_SPEED_L                0x20
@@ -68,6 +68,9 @@
 #define RAM_LOCK                        0x2F
 #define RAM_PUNCH_L                     0x30
 #define RAM_PUNCH_H                     0x31
+#define RAM_PRESENT_CURRENT_L           0x44
+#define RAM_PRESENT_CURRENT_H           0x45
+
 
 
 //-------------------------------------------------------------------------------------------------------------------------------