Fixed some minor errors

src/dynamixel_pan_tilt.h

@@ -326,7 +326,7 @@ class CDynamixel_Pan_Tilt
     void set_moving_state_pan(Torque_moving_state tms);
 
     /**
-     * \brief Function to get a value on pan's moving state.
+     * \brief Function to get the value of pan's moving state.
      *
      * \param tms The variable to save the value of the pan's moving state.
      */
@@ -340,7 +340,7 @@ class CDynamixel_Pan_Tilt
     void set_moving_state_tilt(Torque_moving_state tms);
 
     /**
-     * \brief Function to get a value on tilt's moving state.
+     * \brief Function to get the value of tilt's moving state.
      *
      * \param tms The variable to save the value of the tilt's moving state.
      */
@@ -353,7 +353,7 @@ class CDynamixel_Pan_Tilt
      *
      * \return The hysteresis angle for the pan servo.
      */
-    double get_checking_hysteresis_pan(double effort);
+    double calculate_checking_hysteresis_pan(double effort);
 
     /**
      * \brief Function to calculate the angle hysteresis depending on the desired effort for the tilt servo.
@@ -362,7 +362,35 @@ class CDynamixel_Pan_Tilt
      *
      * \return The hysteresis angle for the tilt servo.
      */
-    double get_checking_hysteresis_tilt(double effort);
+    double calculate_checking_hysteresis_tilt(double effort);
+
+    /**
+     * \brief Function to get the value of pan's hysteresis.
+     *
+     * \param hyst The variable to save the value.
+     */
+    void get_checking_hysteresis_pan(double &hyst);
+
+    /**
+     * \brief Function to get the value of tilt's hysteresis.
+     *
+     * \param hyst The variable to save the value.
+     */
+    void get_checking_hysteresis_tilt(double &hyst);
+
+    /**
+     * \brief Function to set the value of pan's hysteresis.
+     *
+     * \param hyst The value to set.
+     */
+    void set_checking_hysteresis_pan(double hyst);
+
+    /**
+     * \brief Function to set the value of tilt's hysteresis.
+     *
+     * \param hyst The value to set.
+     */
+    void set_checking_hysteresis_tilt(double hyst);
 
   public:
     
@@ -534,6 +562,20 @@ class CDynamixel_Pan_Tilt
      */
     void stop(void);
 
+    /**
+     * \brief Function to get the current speed of both servos in degrees/s.
+     * 
+     * \return A struct with the current speed of both servos in degrees/s.
+     */
+    Dynamixel_pan_tilt_data get_current_speed(void);
+
+    /**
+     * \brief Function to get the current effort of both servos in %.
+     * 
+     * \return A struct with the current effort of both servos in %.
+     */
+    Dynamixel_pan_tilt_data get_current_effort(void);
+
     /**
      * \brief Function to get the compliance configuration of both servos.
      *
@@ -574,6 +616,16 @@ class CDynamixel_Pan_Tilt
      * \param data The data to be printed.
      */
     void print_pan_tilt_data(Dynamixel_pan_tilt_data data);
+
 };
 
+/**
+ * \brief Overload of the << operator to print easily any pan-tilt data.
+ *
+ * \param out The output stream.
+ * \param data The data to be printed.
+ * \return The output stream.
+ */
+std::ostream& operator<< (std::ostream& out, Dynamixel_pan_tilt_data &data);
+
 #endif

src/examples/test_dynamixel_pan_tilt.cpp

@@ -234,7 +234,8 @@ int main(int argc, char *argv[])
       desired_pos.pan = -80.1613;
       desired_pos.tilt = -80.1613;
       std::cout << "Desired position: ";
-      pan_tilt->print_pan_tilt_data(desired_pos);
+      std::cout << desired_pos;
+      //pan_tilt->print_pan_tilt_data(desired_pos);
       std::cout << "Current position: ";
       pan_tilt->print_current_position();
       pan_tilt->move_absolute_angle(desired_pos, desired_speed);
@@ -256,7 +257,8 @@ int main(int argc, char *argv[])
       }
 
       std::cout << "Desired position: ";
-      pan_tilt->print_pan_tilt_data(desired_pos);
+      std::cout << desired_pos;
+      //pan_tilt->print_pan_tilt_data(desired_pos);
       std::cout << "Reached position: ";
       pan_tilt->print_current_position();
       std::cout << "Error position: (" << pos.pan - desired_pos.pan << " , " << pos.tilt - desired_pos.tilt << ")" << std::endl;
@@ -285,7 +287,8 @@ int main(int argc, char *argv[])
       pan_tilt->print_current_position();
 
       std::cout << "Desired effort: ";
-      pan_tilt->print_pan_tilt_data(desired_effort);
+      std::cout << desired_effort;
+      //pan_tilt->print_pan_tilt_data(desired_effort);
 
       pan_tilt->move_torque(desired_effort);
 
@@ -331,7 +334,8 @@ int main(int argc, char *argv[])
       pan_tilt->move_relative_angle(desired_pos,desired_speed);
 
       std::cout << "Desired angle: ";
-      pan_tilt->print_pan_tilt_data(desired_pos);
+      std::cout << desired_pos;
+      //pan_tilt->print_pan_tilt_data(desired_pos);
 
       std::cout << "Moving..." << std::endl;
 
@@ -353,7 +357,8 @@ int main(int argc, char *argv[])
       }
 
       std::cout << "Desired position: ";
-      pan_tilt->print_pan_tilt_data(desired_pos);
+      std::cout << desired_pos;
+      //pan_tilt->print_pan_tilt_data(desired_pos);
       std::cout << "Reached position: ";
       pan_tilt->print_current_position();
       std::cout << "Error position: (" << pos.pan - desired_pos.pan << " , " << pos.tilt - desired_pos.tilt << ")" << std::endl;
@@ -382,7 +387,8 @@ int main(int argc, char *argv[])
       pan_tilt->print_current_position();
 
       std::cout << "Desired effort: ";
-      pan_tilt->print_pan_tilt_data(desired_effort);
+      std::cout << desired_effort;
+      //pan_tilt->print_pan_tilt_data(desired_effort);
 
       pan_tilt->move_torque(desired_effort);
 

src/xml/dyn_pan_tilt_config_AX12plus.xml

@@ -7,7 +7,7 @@
   <temp_limit>85</temp_limit>
   <max_voltage>19</max_voltage>
   <min_voltage>6</min_voltage>
-  <max_torque>100</max_torque>
+  <max_torque>20</max_torque>
   <cw_comp_margin>2</cw_comp_margin>
   <ccw_comp_margin>2</ccw_comp_margin>
   <cw_comp_slope>64</cw_comp_slope>