From 55b64440a45bcb13a280dec25de8214f293fd6f8 Mon Sep 17 00:00:00 2001 From: Sergi Hernandez Juan <shernand@iri.upc.edu> Date: Fri, 28 Feb 2020 16:04:48 +0100 Subject: [PATCH] Updated the registre addresses to take into account the current servo angles. --- include/darwin_conf.h | 12 ++++++------ 1 file changed, 6 insertions(+), 6 deletions(-) diff --git a/include/darwin_conf.h b/include/darwin_conf.h index 90314cb..8c3deeb 100644 --- a/include/darwin_conf.h +++ b/include/darwin_conf.h @@ -36,25 +36,25 @@ #define RAM_MMANAGER_BASE_ADDRESS ((unsigned short int)0x0088) /* action motion module */ -#define RAM_ACTION_MM_BASE_ADDRESS ((unsigned short int)0x009E) +#define RAM_ACTION_MM_BASE_ADDRESS ((unsigned short int)0x00DE) /* balance */ #define EEPROM_BALANCE_BASE_ADDRESS ((unsigned short int)0x0007) -#define RAM_BALANCE_BASE_ADDRESS ((unsigned short int)0x00A0) +#define RAM_BALANCE_BASE_ADDRESS ((unsigned short int)0x00E0) /* action motion module */ -#define RAM_JOINT_MOTION_MM_BASE_ADDRESS ((unsigned short int)0x00A1) +#define RAM_JOINT_MOTION_MM_BASE_ADDRESS ((unsigned short int)0x00E1) /* head tracking motion module */ -#define RAM_HEAD_TRACKING_MM_BASE_ADDRESS ((unsigned short int)0x0135) +#define RAM_HEAD_TRACKING_MM_BASE_ADDRESS ((unsigned short int)0x0175) #define EEPROM_HEAD_TRACKING_MM_BASE_ADDRESS ((unsigned short int)0x0031) /* head tracking motion module */ -#define RAM_WALK_MM_BASE_ADDRESS ((unsigned short int)0x0142) +#define RAM_WALK_MM_BASE_ADDRESS ((unsigned short int)0x0182) #define EEPROM_WALK_MM_BASE_ADDRESS ((unsigned short int)0x0043) /* IMU */ -#define RAM_IMU_MM_BASE_ADDRESS ((unsigned short int)0x0146) +#define RAM_IMU_MM_BASE_ADDRESS ((unsigned short int)0x0186) /* EEPROM default values */ /* Dynamixel slave */ -- GitLab