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); } } -- GitLab