Made public the to_angles() and to_speeds() functions.

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
      *

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;