Dynamixel Internal Position Control Methods

Macros
#define	DYNA_CTL_METHOD_NONE   0
	no control method
#define	DYNA_CTL_METHOD_COMPLIANCE   1
	compliance control method
#define	DYNA_CTL_METHOD_PID   2
	pid control method

Detailed Description

The compliance control method specifies a simple torque (speed) ramp down and margin to achieve the goal position.

The PID control method, that replaced the above method in newer servos, defines the set of constants used by the servo to achieve the goal position.