Dynamixel Control Method Structure. More...

#include <DynaTypes.h>

Public Attributes
uint_t	m_uCtlMethod
	Dynamixel Internal Position Control Methods

union {
struct {
uint_t m_uCwMargin
	clockwise compliance margin

uint_t m_uCwSlope
	clockwise compliance slope

uint_t m_uCcwMargin
	counterclockwise compliance margin

uint_t m_uCcwSlope
	counterclockwise compliance slope

} m_comp
	compliance control method parameters

struct {
uint_t m_uPGain
	proportional constant gain

uint_t m_uIGain
	integral constant gain

uint_t m_uDGain
	derivative constant gain

} m_pid

}	m_params
	parameters to control methods

Detailed Description

Dynamixel Control Method Structure.

The Dynamixel servos have two types of position control method depending on servo model. See Dynamixel Internal Position Control Methods.

Definition at line 146 of file DynaTypes.h.

The documentation for this struct was generated from the following file:

Public Attributes