BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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adjusted position min/max value. (MX-28, XM-430)

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ROBOTIS-zerom
2016-06-28 16:38:53 +09:00
parent a3e386e14e
commit 6318166216
2 changed files with 3 additions and 3 deletions
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2
robotis_device/devices/dynamixel/MX-28.device
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@@ -47,7 +47,7 @@ position_p_gain_item_name = position_p_gain
30 | goal_position | 2 | RW | RAM | -28672 | 28672 | Y
32 | goal_velocity | 2 | RW | RAM | 0 | 1023 | N
34 | goal_torque | 2 | RW | RAM | 0 | 1023 | N
36 | present_position | 2 | R | RAM | 0 | 4095 | N
36 | present_position | 2 | R | RAM | -32768 | 32767 | Y
38 | present_velocity | 2 | R | RAM | 0 | 2048 | N
40 | present_load | 2 | R | RAM | 0 | 2048 | N
42 | present_voltage | 1 | R | RAM | 50 | 250 | N

4
robotis_device/devices/dynamixel/XM-430.device
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@@ -59,14 +59,14 @@ position_p_gain_item_name = position_p_gain
104 | goal_velocity | 4 | RW | RAM | 0 | 1023 | N
108 | profile_acceleration | 4 | RW | RAM | 0 | 32767 | N
112 | profile_velocity | 4 | RW | RAM | 0 | 1023 | N
116 | goal_position | 4 | RW | RAM | 0 | 4095 | N
116 | goal_position | 4 | RW | RAM | -1048575 | 1048575 | Y
120 | realtime_tick | 2 | R | RAM | 0 | 32767 | N
122 | moving | 1 | R | RAM | 0 | 1 | N
123 | moving_status | 1 | R | RAM | 0 | 255 | N
124 | present_pwm | 2 | R | RAM | 0 | 885 | N
126 | present_current | 2 | R | RAM | 0 | 1193 | N
128 | present_velocity | 4 | R | RAM | 0 | 1023 | N
132 | present_position | 4 | R | RAM | 0 | 4095 | N
132 | present_position | 4 | R | RAM | -2147483648 | 2147483647 | Y
136 | velocity_trajectory | 4 | R | RAM | 0 | 1023 | N
140 | position_trajectory | 4 | R | RAM | 0 | 4095 | N
144 | present_input_voltage | 2 | R | RAM | 95 | 160 | N