Dyanamixel
Dependents: YOZAKURA_ARM YOZAKURA_ARM_USB YOZAKURA_ARM_USB_Keyboard YOZAKURA_ARM_Keyboard0424 ... more
Diff: MX28.cpp
- Revision:
- 1:3ac0919c093f
- Parent:
- 0:10c9fb86002f
- Child:
- 2:08072af3e9da
diff -r 10c9fb86002f -r 3ac0919c093f MX28.cpp --- a/MX28.cpp Tue Mar 31 09:45:27 2015 +0000 +++ b/MX28.cpp Wed Apr 08 08:03:42 2015 +0000 @@ -126,6 +126,7 @@ } + int MX28::SetCCWLimit (int degrees) { char data[2]; @@ -261,6 +262,7 @@ return(volts); } + float MX28::GetCurrent (void) { if (MX28_DEBUG) { @@ -272,6 +274,26 @@ return(current); } + +int MX28::TorqueEnable (int mode) { + + char data[1]; + data[0] = mode; + + return (write(_ID, MX28_REG_TORQUE_ENABLE, 1, data)); +} + + +int MX28::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, MX28_REG_TORQUE_LIMIT, 2, data)); +} + int MX28::read(int ID, int start, int bytes, char* data) { char PacketLength = 0x4;