From 6dae8ea5c637e93c0001c5829866dfc813425840 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 5 Mar 2020 07:36:19 +0100
Subject: [PATCH] Solved a bug in the store of the joint motion data (the RAM
offset was wrong).
---
dynamixel_manager/include/modules/joint_motion_registers.h | 4 ++--
dynamixel_manager/src/modules/joint_motion.c | 2 +-
2 files changed, 3 insertions(+), 3 deletions(-)
diff --git a/dynamixel_manager/include/modules/joint_motion_registers.h b/dynamixel_manager/include/modules/joint_motion_registers.h
index dd47f96..6811abf 100644
--- a/dynamixel_manager/include/modules/joint_motion_registers.h
+++ b/dynamixel_manager/include/modules/joint_motion_registers.h
@@ -9,8 +9,8 @@
#define JOINT_MOTION_RUNNING 0x80
#define JOINT_MOTION_GROUP_SERVOS_OFFSET NUM_JOINT_GROUPS
#define JOINT_MOTION_SERVO_ANGLES_OFFSET (5*NUM_JOINT_GROUPS)
-#define JOINT_MOTION_SERVO_SPEEDS_OFFSET (5*NUM_JOINT_GROUPS)+DYN_MANAGER_MAX_NUM_DEVICES*2
-#define JOINT_MOTION_SERVO_ACCELS_OFFSET (5*NUM_JOINT_GROUPS)+DYN_MANAGER_MAX_NUM_DEVICES*3
+#define JOINT_MOTION_SERVO_SPEEDS_OFFSET ((5*NUM_JOINT_GROUPS)+DYN_MANAGER_MAX_NUM_DEVICES*2)
+#define JOINT_MOTION_SERVO_ACCELS_OFFSET ((5*NUM_JOINT_GROUPS)+DYN_MANAGER_MAX_NUM_DEVICES*3)
#endif
diff --git a/dynamixel_manager/src/modules/joint_motion.c b/dynamixel_manager/src/modules/joint_motion.c
index ebbe9eb..ffc40f9 100644
--- a/dynamixel_manager/src/modules/joint_motion.c
+++ b/dynamixel_manager/src/modules/joint_motion.c
@@ -19,7 +19,7 @@ void joint_motion_write_cmd(TJointMModule *module,unsigned short int address,uns
ram_offset=address-module->ram_base_address;
for(i=0;i<DYN_MANAGER_MAX_NUM_DEVICES*4;i++)
if(ram_in_range(module->ram_base_address+JOINT_MOTION_SERVO_ANGLES_OFFSET+i,address,length))
- module->memory->data[i]=data[JOINT_MOTION_SERVO_ANGLES_OFFSET+i-ram_offset];
+ module->memory->data[module->ram_base_address+JOINT_MOTION_SERVO_ANGLES_OFFSET+i]=data[JOINT_MOTION_SERVO_ANGLES_OFFSET+i-ram_offset];
// group servos
for(j=0;j<NUM_JOINT_GROUPS;j++)
{
--
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