雄介 太田 / Dynamixel

Dyanamixel

Dependents:   YOZAKURA_ARM YOZAKURA_ARM_USB YOZAKURA_ARM_USB_Keyboard YOZAKURA_ARM_Keyboard0424 ... more

Diff: AX12.cpp

Revision:
1:3ac0919c093f
Parent:
0:10c9fb86002f
Child:
3:97fc13b4168c
--- a/AX12.cpp	Tue Mar 31 09:45:27 2015 +0000
+++ b/AX12.cpp	Wed Apr 08 08:03:42 2015 +0000
@@ -126,6 +126,7 @@
 
 }
 
+
 int AX12::SetCCWLimit (int degrees) {
 
     char data[2];
@@ -260,7 +261,8 @@
     return(volts);
 }
 
-float AX12::TorqueEnable (int mode) {
+
+int AX12::TorqueEnable (int mode) {
 
     char data[1];
     data[0] = mode;
@@ -268,6 +270,18 @@
     return (write(_ID, AX12_REG_TORQUE_ENABLE, 1, data));
 }
 
+
+int AX12::SetTorqueLimit (float torque_lim) {
+    
+    short limit = torque_lim * 1023;
+    char data[2];
+    data[0] = limit & 0xff; // bottom 8 bits
+    data[1] = limit >> 8;   // top 8 bits
+
+    return (write(_ID, AX12_REG_TORQUE_LIMIT, 2, data));
+}
+
+
 int AX12::read(int ID, int start, int bytes, char* data) {
 
     char PacketLength = 0x4;