From 71895cb7a45202fc859f4990cf4a4807442d8c37 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Tue, 21 May 2024 09:37:09 +0200
Subject: [PATCH] Updated the internal operation mode attributes when
configured.
---
src/dynamixel_motor.cpp | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/src/dynamixel_motor.cpp b/src/dynamixel_motor.cpp
index 3d75e74..857b9de 100644
--- a/src/dynamixel_motor.cpp
+++ b/src/dynamixel_motor.cpp
@@ -446,9 +446,19 @@ void CDynamixelMotor::set_drive_mode(bool time_based,bool reverse)
unsigned int value=0;
if(time_based)
+ {
+ this->time_based_mode=true;
value|=0x04;
+ }
+ else
+ this->time_based_mode=false;
if(reverse)
+ {
+ this->reverse_mode=true;
value|=0x01;
+ }
+ else
+ this->reverse_mode=false;
this->write_register(this->registers[drive_mode],value);
}
--
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