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
 

Detailed Description

Mode: R