Macros
#define	DYNA_ADDR_CUR_SPEED_LSB 38
	current speed lsb (R)

#define	DYNA_ADDR_CUR_SPEED_MSB 39
	current speed msb (R)

#define	DYNA_ADDR_CUR_SPEED_MASK 0x07ff
	valid data mask

#define	DYNA_CUR_SPEED_MAG_MASK 0x03ff
	speed magnitude field mask

#define	DYNA_CUR_SPEED_MAG_SHIFT 0
	speed magnitude field shift

#define	DYNA_CUR_SPEED_DIR_MASK 0x0400
	speed direction field mask

#define	DYNA_CUR_SPEED_DIR_SHIFT 10
	speed direction field shift

#define	DYNA_CUR_SPEED_DIR_CCW 0x00
	counterclockwise direction

#define	DYNA_CUR_SPEED_DIR_CW (0x01 << DYNA_CUR_SPEED_DIR_SHIFT)
	clockwise direction

Detailed Description

Get the current servo speed and direction.

Fields:

speed	10-bit raw speed.
dir	clockwise or countclockwise direction

See also: Dynamixel Position Common Values and Dynamixel Direction Common Values for valid values.

Macros