diff --git a/include/eeprom.h b/include/eeprom.h index 6ae5309ae699919c016e15447869d4d9707d2c9d..c20035882aa091380fd791694b2318e5029ac777 100755 --- a/include/eeprom.h +++ b/include/eeprom.h @@ -83,7 +83,7 @@ extern "C" { #define PAGE_FULL ((uint8_t)0x80) /* Variables' number */ -#define NB_OF_VAR ((uint8_t)0x54) +#define NB_OF_VAR ((uint8_t)0x60) /* Exported types ------------------------------------------------------------*/ /* Exported macro ------------------------------------------------------------*/ diff --git a/src/motion_manager.c b/src/motion_manager.c index 8077fcd6ccc3ee42c02abbbf7ba9e1b4780af608..6a5e3f188a4ef2fc873571c318fe202b611b11c6 100755 --- a/src/motion_manager.c +++ b/src/motion_manager.c @@ -58,12 +58,12 @@ void manager_send_motion_command(void) { servo_ids[num]=manager_servos[i].id; manager_servos[i].ccw_comp=(1<<(manager_current_slopes[i]&0x0F)); - write_data[num].data_addr=(uint8_t *)&(manager_servos[i].cw_comp); + write_data[num].data_addr=(uint8_t *)&(manager_servos[i].ccw_comp); num++; } } if(num>0) - dyn_master_sync_write(&darwin_dyn_master_v2,num,servo_ids,P_CW_COMPLIANCE_SLOPE,3,write_data); + dyn_master_sync_write(&darwin_dyn_master_v2,num,servo_ids,XL_P_GAIN,3,write_data); } inline uint16_t manager_angle_to_value(uint8_t servo_id,int16_t angle) @@ -295,7 +295,7 @@ void manager_init(uint16_t period_us) // set the action current angles manager_current_angles[i]=manager_servos[i].current_angle<<9; manager_num_servos++; - current=0; + current++; } else {