Dynamixel Operational Modes

Macros
#define	DYNA_MODE_SERVO   0x01
	servo mode with limited rotation
#define	DYNA_MODE_CONTINUOUS   0x02
	continuous mode with/without position

Detailed Description

In servo mode, the servo has limited rotation (e.g. 300 °). The servo, however, can move to a new goal position without host asssitance using the servo control method, and moves at the current goal speed.

In continuous (wheel) mode, the goal position is not applicable. The servo is moved by setting the goal speed and direction (cw/ccw). Position data is invalid within the servo position limits and so cannot be trusted. On newer servos, 360 ° position data is availble and the host may then provide positioning control.