Dynamixel  2.9.5
RoadNarrows Robotics Dynamixel Package
Macros
RAM Clockwise Compliance Slope
Dynamixel Servos » Servo Memory-Mapped Control Table » Generic Control Table Memory Map » RAM Position Control Method » RAM Compliance Position Control Method

Macros

#define DYNA_ADDR_CW_COMP_SLOPE   28
 clockwise compliance slope
 
#define DYNA_ADDR_CW_COMP_SLOPE_MASK   0xff
 valid data mask
 
#define DYNA_COMP_SLOPE_TORQUE_1   0x02
 compliance torque level 1
 
#define DYNA_COMP_SLOPE_TORQUE_2   0x04
 compliance torque level 2
 
#define DYNA_COMP_SLOPE_TORQUE_3   0x08
 compliance torque level 3
 
#define DYNA_COMP_SLOPE_TORQUE_4   0x10
 compliance torque level 4
 
#define DYNA_COMP_SLOPE_TORQUE_5   0x20
 compliance torque level 5
 
#define DYNA_COMP_SLOPE_TORQUE_6   0x40
 compliance torque level 6
 
#define DYNA_COMP_SLOPE_TORQUE_7   0x80
 compliance torque level 7
 
#define DYNA_COMP_SLOPE_TORQUE_DFT   DYNA_COMP_SLOPE_TORQUE_5
 default compliance torque level
 

Detailed Description

Sets the level of clockwise torque near the goal position. Higher values have more variance for stopping at goal postition.

Mode: RW