From 48e0dd1e10fa44baaee42e368bb68eb3295af09f Mon Sep 17 00:00:00 2001 From: =?UTF-8?q?Sergi=20Foix=20Salmer=C3=B3n?= <sfoix@iri.upc.edu> Date: Tue, 17 Sep 2019 17:16:56 +0200 Subject: [PATCH] Added support for the RX-28 servo. --- src/dynamixel_motor.cpp | 12 ++++++++++++ 1 file changed, 12 insertions(+) diff --git a/src/dynamixel_motor.cpp b/src/dynamixel_motor.cpp index 432550b..d67ac1f 100644 --- a/src/dynamixel_motor.cpp +++ b/src/dynamixel_motor.cpp @@ -201,6 +201,18 @@ void CDynamixelMotor::get_model(void) this->info.multi_turn=false; this->info.ext_memory_map=false; break; + case 0x001C: this->info.model="RX-28"; + this->info.max_angle=300.0; + this->info.center_angle=150.0; + this->info.max_speed=510; + this->info.max_current=0.0; + this->info.encoder_resolution=1023; + this->info.gear_ratio=193; + this->registers=ax_reg; + this->info.pid_control=false; + this->info.multi_turn=false; + this->info.ext_memory_map=false; + break; case 0x0168: this->info.model="MX-12"; this->info.max_angle=360.0; this->info.center_angle=180.0; -- GitLab