BRSRI/bellande_humanoid_robot_intelligence_control_system_framework
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- convertRadian2Value / convertValue2Radian : commented out the code that limits the maximum/minimum value.

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This commit is contained in:
ROBOTIS-zerom
2016-09-20 11:55:29 +09:00
parent 219b64db57
commit c653a07722
1 changed files with 8 additions and 8 deletions
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16
robotis_device/src/robotis_device/dynamixel.cpp
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@ -93,10 +93,10 @@ double Dynamixel::convertValue2Radian(int32_t value)
/ (double) (value_of_min_radian_position_ - value_of_0_radian_position_);
}
if (radian > max_radian_)
return max_radian_;
else if (radian < min_radian_)
return min_radian_;
// if (radian > max_radian_)
// return max_radian_;
// else if (radian < min_radian_)
// return min_radian_;
return radian;
}
@ -123,10 +123,10 @@ int32_t Dynamixel::convertRadian2Value(double radian)
else
value = value_of_0_radian_position_;
if (value > value_of_max_radian_position_)
return value_of_max_radian_position_;
else if (value < value_of_min_radian_position_)
return value_of_min_radian_position_;
// if (value > value_of_max_radian_position_)
// return value_of_max_radian_position_;
// else if (value < value_of_min_radian_position_)
// return value_of_min_radian_position_;
return value;
}