From 314a4c0d067b21f161f97f6e0737b87bfcb8866b Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 7 Oct 2016 08:40:24 +0200
Subject: [PATCH] Solved some bugs in the dynamixel v2 sync write command.
Updated the number of EEPROM variables.
---
include/eeprom.h | 2 +-
src/motion_manager.c | 6 +++---
2 files changed, 4 insertions(+), 4 deletions(-)
diff --git a/include/eeprom.h b/include/eeprom.h
index 6ae5309..c200358 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 8077fcd..6a5e3f1 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
{
--
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