BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- sync write bug fix.

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ROBOTIS-zerom
2016-05-26 11:11:29 +09:00
parent 30586ed499
commit 0e2805e17e
1 changed files with 6 additions and 3 deletions
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9
robotis_controller/src/robotis_controller/RobotisController.cpp
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@ -1316,10 +1316,13 @@ void RobotisController::SetCtrlModuleThread(std::string ctrl_module)
_sync_write_data[2] = DXL_LOBYTE(DXL_HIWORD(_pos_data));
_sync_write_data[3] = DXL_HIBYTE(DXL_HIWORD(_pos_data));
port_to_sync_write_position[_dxl->port_name]->AddParam(_dxl->id, _sync_write_data);
if(port_to_sync_write_position[_dxl->port_name] != NULL)
port_to_sync_write_position[_dxl->port_name]->AddParam(_dxl->id, _sync_write_data);
port_to_sync_write_torque[_dxl->port_name]->RemoveParam(_dxl->id);
port_to_sync_write_velocity[_dxl->port_name]->RemoveParam(_dxl->id);
if(port_to_sync_write_torque[_dxl->port_name] != NULL)
port_to_sync_write_torque[_dxl->port_name]->RemoveParam(_dxl->id);
if(port_to_sync_write_velocity[_dxl->port_name] != NULL)
port_to_sync_write_velocity[_dxl->port_name]->RemoveParam(_dxl->id);
}
}
else