Solved some minor bugs.

src/darwin_robot.cpp

@@ -960,13 +960,26 @@ double CDarwinRobot::walk_get_y_offset(void)
     throw CDarwinRobotException(_HERE_,"Invalid robot device");
 }
 
+void CDarwinRobot::walk_set_z_offset(double offset_m)
+{
+  unsigned char offset;
+
+  if(this->robot_device!=NULL)
+  {
+    offset=(unsigned char)(offset_m*1000.0);
+    this->robot_device->write_byte_register(DARWIN_WALK_Z_OFFSET,offset);
+  }
+  else
+    throw CDarwinRobotException(_HERE_,"Invalid robot device");
+}
+
 double CDarwinRobot::walk_get_z_offset(void)
 {
   unsigned char offset;
 
   if(this->robot_device!=NULL)
   {
-    this->robot_device->read_byte_register(DARWIN_WALK_Y_OFFSET,&offset);
+    this->robot_device->read_byte_register(DARWIN_WALK_Z_OFFSET,&offset);
     return ((double)offset)/1000.0;
   }
   else
@@ -1051,19 +1064,32 @@ double CDarwinRobot::walk_get_yaw_offset(void)
     throw CDarwinRobotException(_HERE_,"Invalid robot device");
 }
 
-void CDarwinRobot::walk_set_hip_picth_offset(double offset_rad)
+void CDarwinRobot::walk_set_hip_pitch_offset(double offset_rad)
 {
   unsigned short int offset;
 
   if(this->robot_device!=NULL)
   {
-    offset=(unsigned char)((offset_rad*180.0/PI)*1024.0);
+    offset=(unsigned short int)((offset_rad*180.0/PI)*8.0);
     this->robot_device->write_word_register(DARWIN_WALK_HIP_PITCH_OFF_L,offset);
   }
   else
     throw CDarwinRobotException(_HERE_,"Invalid robot device");
 }
 
+double CDarwinRobot::walk_get_hip_pitch_offset(void)
+{
+  unsigned short int offset;
+
+  if(this->robot_device!=NULL)
+  {
+    this->robot_device->read_word_register(DARWIN_WALK_HIP_PITCH_OFF_L,&offset);
+    return (((double)offset)*PI/180.0)/8.0;
+  }
+  else
+    throw CDarwinRobotException(_HERE_,"Invalid robot device");
+}
+
 void CDarwinRobot::walk_set_period(double period_s)
 {
   unsigned short int period;

src/darwin_robot.h

@@ -126,7 +126,7 @@ class CDarwinRobot
     double walk_get_pitch_offset(void);
     void walk_set_yaw_offset(double offset_rad);
     double walk_get_yaw_offset(void);
-    void walk_set_hip_picth_offset(double offset_rad);
+    void walk_set_hip_pitch_offset(double offset_rad);
     double walk_get_hip_pitch_offset(void);
     void walk_set_period(double period_ms);
     double walk_get_period(void);