From 5e3a6eb23c7f0efb971118febb8639d1d918916e Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 6 Sep 2019 12:43:44 +0200
Subject: [PATCH] Used the velocity profile register to control the moving
 speed in the position/current control mode.

---
 src/dynamixel_motor.cpp | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/src/dynamixel_motor.cpp b/src/dynamixel_motor.cpp
index 08a7a72..fafd0d4 100644
--- a/src/dynamixel_motor.cpp
+++ b/src/dynamixel_motor.cpp
@@ -1004,7 +1004,7 @@ void CDynamixelMotor::move_absolute_angle(double angle,double speed,double curre
     if(speed>this->info.max_speed)
       speed=this->info.max_speed;
     data=this->from_speeds(speed);
-    this->write_register(this->registers[goal_speed],data);
+    this->write_register(this->registers[profile_vel],data);
   }
 }
 
-- 
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