From 759998bc901b43ad07cb31392fb01bb7995e70d9 Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Wed, 24 Feb 2016 18:49:07 +0000
Subject: [PATCH] Changed the address of the sync write function.
---
src/bioloid_stm32.c | 2 +-
src/motion_manager.c | 2 +-
2 files changed, 2 insertions(+), 2 deletions(-)
diff --git a/src/bioloid_stm32.c b/src/bioloid_stm32.c
index 7f63859..b34b9d4 100644
--- a/src/bioloid_stm32.c
+++ b/src/bioloid_stm32.c
@@ -27,7 +27,7 @@ int32_t main(void)
bioloid_time_init();
/* initialize zigbee module */
zigbee_init();
-// zigbee_enable_power();
+ zigbee_enable_power();
/* initialize the dynamixel slave interface */
bioloid_dyn_slave_init();
bioloid_dyn_slave_start();
diff --git a/src/motion_manager.c b/src/motion_manager.c
index 15bcce0..3b5a18d 100644
--- a/src/motion_manager.c
+++ b/src/motion_manager.c
@@ -44,7 +44,7 @@ void manager_send_motion_command(void)
}
}
if(num>0)
- dyn_master_sync_write(&bioloid_dyn_master_servos,num,servo_ids,P_GOAL_POSITION_L,4,write_data);
+ dyn_master_sync_write(&bioloid_dyn_master_servos,num,servo_ids,P_CW_COMPLIANCE_SLOPE,4,write_data);
}
inline uint16_t manager_angle_to_value(uint8_t servo_id,int16_t angle)
--
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