[dynamixel_driver] Support for Multi-turn Mode #68
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pazeshun
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Tested with MX-28R |
pazeshun
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pazeshun
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pazeshun
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@arebgun Please review this |
| @@ -935,6 +1013,8 @@ def get_feedback(self, servo_id): | |||
| # extract data values from the raw data | |||
| goal = response[5] + (response[6] << 8) | |||
| position = response[11] + (response[12] << 8) | |||
| if position & 0x8000: | |||
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likewise, you need this just above:
if goal & 0x8000:
goal += -0x10000
| @@ -136,6 +136,13 @@ def __fill_motor_parameters(self, motor_id, model_number): | |||
| encoder_resolution = DXL_MODEL_TO_PARAMS[model_number]['encoder_resolution'] | |||
| range_degrees = DXL_MODEL_TO_PARAMS[model_number]['range_degrees'] | |||
| range_radians = math.radians(range_degrees) | |||
| if angles['max'] == 4095 and angles['min'] == 4095: # In multi-turn mode if the servo is MX motor | |||
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why not check DXL_MODEL_TO_PARAMS on model_number to see if multi-turn is supported rather than relying on this try .. except?
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I think checking DXL_MODEL_TO_PARAMS should only be in lowest layer (ex. get_resolution_divider) for simplicity.
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I've successfully tested this on the MX-12W, thank you @pazeshun ! |
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@dbolkensteyn Thanks for review! I fixed goal of feedback. |
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What I did