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Dynamixel
2.9.5
RoadNarrows Robotics Dynamixel Package
|
Macros | |
| #define | DYNA_ADDR_CUR_LOAD_LSB 40 |
| current load lsb (R) | |
| #define | DYNA_ADDR_CUR_LOAD_MSB 41 |
| current load msb (R) | |
| #define | DYNA_ADDR_CUR_LOAD_MASK 0x07ff |
| valid data mask | |
| #define | DYNA_CUR_LOAD_MAG_MASK 0x03ff |
| load magnitude field mask | |
| #define | DYNA_CUR_LOAD_MAG_SHIFT 0 |
| load magnitude field shift | |
| #define | DYNA_CUR_LOAD_MAG_MIN 0 |
| minimum load | |
| #define | DYNA_CUR_LOAD_MAG_MAX 1023 |
| maximum load | |
| #define | DYNA_CUR_LOAD_DIR_MASK 0x0400 |
| load direction field mask | |
| #define | DYNA_CUR_LOAD_DIR_SHIFT 10 |
| load direction field shift | |
| #define | DYNA_CUR_LOAD_DIR_CCW 0x00 |
| counterclockwise direction | |
| #define | DYNA_CUR_LOAD_DIR_CW (0x01 << DYNA_CUR_LOAD_DIR_SHIFT) |
| clockwise direction | |
| #define | DYNA_CUR_LOAD_RES_PCT (100.0/DYNA_CUR_LOAD_MAG_MAX) |
| percent of maximum resolution | |
| #define | DYNA_CUR_LOAD_RES_PMIL (1000.0/DYNA_CUR_LOAD_MAG_MAX) |
| permil of maximum resolution | |