From 4226d91b67fa7580aa58a9426eb3cd30eb123356 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Wed, 15 May 2024 10:08:24 +0200
Subject: [PATCH] Added a function to get the register address for each model.
---
include/dynamixel_motor.h | 5 +++++
src/dynamixel_motor.cpp | 5 +++++
src/dynamixel_registers.cpp | 2 +-
3 files changed, 11 insertions(+), 1 deletion(-)
diff --git a/include/dynamixel_motor.h b/include/dynamixel_motor.h
index ec911da..7a99d94 100644
--- a/include/dynamixel_motor.h
+++ b/include/dynamixel_motor.h
@@ -480,6 +480,11 @@ class CDynamixelMotor
*
*/
void get_drive_mode(bool &time_based,bool &reverse);
+ /**
+ * \ brief
+ *
+ */
+ unsigned short int get_register_address(reg_id id);
/**
* \brief
*
diff --git a/src/dynamixel_motor.cpp b/src/dynamixel_motor.cpp
index e2f60a3..3d75e74 100644
--- a/src/dynamixel_motor.cpp
+++ b/src/dynamixel_motor.cpp
@@ -1404,6 +1404,11 @@ void CDynamixelMotor::get_drive_mode(bool &time_based,bool &reverse)
}
}
+unsigned short int CDynamixelMotor::get_register_address(reg_id id)
+{
+ return this->registers[id].address;
+}
+
CDynamixelMotor::~CDynamixelMotor()
{
/* stop the motor */
diff --git a/src/dynamixel_registers.cpp b/src/dynamixel_registers.cpp
index 29cd4f9..8a71816 100644
--- a/src/dynamixel_registers.cpp
+++ b/src/dynamixel_registers.cpp
@@ -418,4 +418,4 @@ TDynReg mx_28_2_0_reg[NUM_REG]={// Info
{0x007C,2,false},
{0x0078,2,false},
{0x0088,5,false},
- {0x008C,4,false}};
\ No newline at end of file
+ {0x008C,4,false}};
--
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