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20181123
Diff: main.cpp
- Revision:
- 2:f630aff31d27
- Parent:
- 1:2823a39f70a9
- Child:
- 3:c05acc05c3bd
--- a/main.cpp Tue Aug 07 08:47:59 2018 +0000 +++ b/main.cpp Tue Aug 07 12:01:03 2018 +0000 @@ -116,7 +116,7 @@ row_cmd = servo_cmd; } -// dynamixelClass.torque(SERVO_ID, servo_cmd); + dynamixelClass.torque(SERVO_ID, servo_cmd); uart_tx(); flag = 0; } @@ -166,7 +166,7 @@ // s3.j = servo_cmd; // s4.j = 1; // s5.j = 3; - s4.j = angle_difference; + s4.j = (Angle*3-D_Angle)*360/4096; s5.j = torque_measured*1000; s6.j = row_cmd; s7.j = 1;