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;
-- 
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