Diff: Mx28.h

Revision:

2:2e32ee9f0e51

Parent:

1:c866ce96ceb3

Child:

5:ca1e55903d09

--- a/Mx28.h	Wed Sep 10 13:06:35 2014 +0000
+++ b/Mx28.h	Thu Apr 28 14:02:54 2016 +0000
@@ -69,6 +69,9 @@
 #define RAM_PUNCH_L                     0x30
 #define RAM_PUNCH_H                     0x31
 
+#define RAM_TORQUE_CONTROL_MODE_ENABLE  0X46
+#define RAM_GOAL_TORQUE_L               0X47
+#define RAM_GOAL_TORQUE_H               0X48
 
 //-------------------------------------------------------------------------------------------------------------------------------
 // Instruction commands Set 
@@ -194,6 +197,10 @@
     unsigned int checkLock(unsigned char);
     
     unsigned int ledState(unsigned char, bool);
+
+    unsigned int torqueMode(unsigned char ID, bool Status);    
+    unsigned int torque(unsigned char ID,unsigned int Torque);
+    unsigned int readRegister(unsigned char ID,unsigned char Register);
 };
 
 #endif