From 6318166216570f952fe8f00619faae48248dc9e5 Mon Sep 17 00:00:00 2001 From: ROBOTIS-zerom Date: Tue, 28 Jun 2016 16:38:53 +0900 Subject: [PATCH] adjusted position min/max value. (MX-28, XM-430) --- robotis_device/devices/dynamixel/MX-28.device | 2 +- robotis_device/devices/dynamixel/XM-430.device | 4 ++-- 2 files changed, 3 insertions(+), 3 deletions(-) diff --git a/robotis_device/devices/dynamixel/MX-28.device b/robotis_device/devices/dynamixel/MX-28.device index f1cfc21..ebcad6e 100644 --- a/robotis_device/devices/dynamixel/MX-28.device +++ b/robotis_device/devices/dynamixel/MX-28.device @@ -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 diff --git a/robotis_device/devices/dynamixel/XM-430.device b/robotis_device/devices/dynamixel/XM-430.device index 9f17d37..7fcec12 100644 --- a/robotis_device/devices/dynamixel/XM-430.device +++ b/robotis_device/devices/dynamixel/XM-430.device @@ -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