RAM Goal Speed and Direction

Macros
#define	DYNA_ADDR_GOAL_SPEED_LSB   32
	goal speed lsb (RW)
#define	DYNA_ADDR_GOAL_SPEED_MSB   33
	goal speed msb (RW)
#define	DYNA_ADDR_GOAL_SPEED_MASK   0x07ff
	valid data mask
#define	DYNA_GOAL_SPEED_MAG_MASK   0x03ff
	speed magnitude field mask
#define	DYNA_GOAL_SPEED_MAG_SHIFT   0
	speed magnitude field shift
#define	DYNA_GOAL_SPEED_DIR_MASK   0x0400
	speed direction field mask
#define	DYNA_GOAL_SPEED_DIR_SHIFT   10
	speed direction field shift
#define	DYNA_GOAL_SPEED_DIR_CCW   0x00
	counterclockwise direction
#define	DYNA_GOAL_SPEED_DIR_CW   (0x01 << DYNA_CUR_SPEED_DIR_SHIFT)
	clockwise direction

Detailed Description

In servo mode, move to new goal position at the given speed. In continuous mode under the current torque limit. These field are ignored in continuous mode.

Servo Mode Fields:

speed

10-bit raw speed.

Continuous Mode Fields:

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

See also

Dynamixel Angular Speed Common Values and Dynamixel Direction Common Values for valid values.

Mode: RW