Dan Gongora / Dynamixel

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Dependents:   dynamixel_wheel_test

Diff: Dynamixel.h

Revision:
6:edba46e8f8b4
Parent:
5:7e661fef9c66
diff -r 7e661fef9c66 -r edba46e8f8b4 Dynamixel.h
--- a/Dynamixel.h	Wed Aug 19 09:24:38 2015 +0000
+++ b/Dynamixel.h	Sun Oct 25 02:15:04 2015 +0000
@@ -29,6 +29,8 @@
 const unsigned char ADDRESS_RETURN_DELAY_TIME = 0x05;
 const unsigned char ADDRESS_MAX_TORQUE = 0x0E;
 const unsigned char ADDRESS_TORQUE_ENABLE = 0x18;
+const unsigned char ADDRESS_CW_ANGLE_LIMIT = 0x06;
+const unsigned char ADDRESS_CCW_ANGLE_LIMIT = 0x08;
 
 class Dynamixel
 {
@@ -37,6 +39,7 @@
     uint8_t ping();
     uint8_t toggleLED(uint8_t ledState);
     uint8_t move(uint16_t position);
+    uint8_t setAngleLimit(uint16_t mode, uint8_t address);
     uint8_t setSpeed(uint16_t speed);
     uint8_t setReturnDelayTime(uint16_t speed);
     uint8_t getReturnDelayTime();