From 6f1777a8f47eb5723619e9f21c8aeca52da811dc Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Fri, 17 Feb 2023 11:08:29 +0100
Subject: [PATCH] Made public the to_angles() and to_speeds() functions.
---
include/dynamixel_motor.h | 22 +++++++++++-----------
src/dynamixel_motor.cpp | 4 ++--
2 files changed, 13 insertions(+), 13 deletions(-)
diff --git a/include/dynamixel_motor.h b/include/dynamixel_motor.h
index 9329a7c..71788bb 100644
--- a/include/dynamixel_motor.h
+++ b/include/dynamixel_motor.h
@@ -125,16 +125,6 @@ class CDynamixelMotor
*/
bool enabled;
protected:
- /**
- * \brief
- *
- */
- double to_angles(unsigned int counts);
- /**
- * \brief
- *
- */
- double to_speeds(unsigned int counts);
/**
* \brief
*
@@ -161,6 +151,16 @@ class CDynamixelMotor
*
*/
void set_control_mode(control_mode mode);
+ /**
+ * \brief
+ *
+ */
+ double to_angles(unsigned int counts);
+ /**
+ * \brief
+ *
+ */
+ double to_speeds(signed int counts);
/**
* \brief
*
@@ -170,7 +170,7 @@ class CDynamixelMotor
* \brief
*
*/
- unsigned int from_speeds(double speed);
+ signed int from_speeds(double speed);
/**
* \brief
*
diff --git a/src/dynamixel_motor.cpp b/src/dynamixel_motor.cpp
index 31dada7..e5e65a2 100644
--- a/src/dynamixel_motor.cpp
+++ b/src/dynamixel_motor.cpp
@@ -82,7 +82,7 @@ unsigned int CDynamixelMotor::from_angles(double angle)
return counts;
}
-unsigned int CDynamixelMotor::from_speeds(double speed)
+signed int CDynamixelMotor::from_speeds(double speed)
{
unsigned int counts;
@@ -105,7 +105,7 @@ double CDynamixelMotor::to_angles(unsigned int counts)
return angle;
}
-double CDynamixelMotor::to_speeds(unsigned int counts)
+double CDynamixelMotor::to_speeds(signed int counts)
{
double speed;
--
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