Zachary Lang
/
MX28
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Fork of
MX28
by 
Gert Lauritsen
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 |
--- 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 + //-------------------------------------------------------------------------------------------------------------------------------