From 6d473aebc0af2eb1ed232c814c682446b6602f11 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 23 Jan 2020 22:03:16 +0100
Subject: [PATCH] Solved a bug in the sync write start address. Updated the
test example.
---
dynamixel_manager/src/modules/motion_manager.c | 2 +-
dynamixel_manager/test/dyn_man_test.c | 8 +++++++-
2 files changed, 8 insertions(+), 2 deletions(-)
diff --git a/dynamixel_manager/src/modules/motion_manager.c b/dynamixel_manager/src/modules/motion_manager.c
index 678880e..256ba55 100644
--- a/dynamixel_manager/src/modules/motion_manager.c
+++ b/dynamixel_manager/src/modules/motion_manager.c
@@ -126,7 +126,7 @@ void mmanager_setup(TMotionManager *mmanager)
if(mmanager->servo_configs[i]->pid==1)
start_address=mmanager->servo_configs[i]->registers[pos_pid_i].address;
else
- start_address=mmanager->servo_configs[i]->registers[cw_comp_margin].address;
+ start_address=mmanager->servo_configs[i]->registers[cw_comp_slope].address;
}
}
}
diff --git a/dynamixel_manager/test/dyn_man_test.c b/dynamixel_manager/test/dyn_man_test.c
index ba63511..b22b50d 100644
--- a/dynamixel_manager/test/dyn_man_test.c
+++ b/dynamixel_manager/test/dyn_man_test.c
@@ -97,6 +97,12 @@ void dyn_master_scan(TDynamixelMaster *master,unsigned char *num,unsigned char *
}
}
+unsigned char dyn_master_read_table(TDynamixelMaster *master,unsigned char id,unsigned short int address,unsigned short int length,unsigned char *data)
+{
+ if(length==2)
+ dyn_master_read_word(master,id,address,(unsigned short int *)data);
+}
+
unsigned char dyn_master_read_word(TDynamixelMaster *master,unsigned char id,unsigned short int address,unsigned short int *data)
{
if(master==&dyn_master1)
@@ -192,7 +198,7 @@ unsigned char dyn_master_start_sync_write(TDynamixelMaster *master,unsigned char
// for(i=0;i<length;i++)
// printf(" 0x%x\n",data[j][i]);
// }
- if(master==&dyn_master1 && address==P_CW_COMPLIANCE_SLOPE && length==4)
+ if(master==&dyn_master1 && address==ax_reg[cw_comp_slope].address && length==4)
{
for(i=0;i<num;i++)
printf("%d,",data[i][2]+(data[i][3]<<8));
--
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