https://github.com/emcfarlane/xl320

Dynamixel XL-320
https://github.com/emcfarlane/xl320

Last synced: 2 months ago
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Dynamixel XL-320

• Host: GitHub
• URL: https://github.com/emcfarlane/xl320
• Owner: emcfarlane
• License: mit
• Created: 2015-07-30T15:34:06.000Z (almost 11 years ago)
• Default Branch: master
• Last Pushed: 2016-05-04T17:56:35.000Z (about 10 years ago)
• Last Synced: 2024-04-21T00:58:22.473Z (about 2 years ago)
• Language: C++
• Size: 317 KB
• Stars: 0
• Watchers: 2
• Forks: 0
• Open Issues: 0
• Metadata Files:
  • Readme: README.md
  • License: LICENSE

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README

          
# xl320

Dynamixel XL-320

## Example

```

#include "motors.h"

DM2 m(p13, p14); // Tx, Rx, Baud=1000000

...

int encode_theta(const double &t) {

	int md = (int) (t*195.5696 + 512.5); // Int cast (t)/(150/180*pi)*512

	if (md > 1024) {

		md = 1024;

	}

	if (md < 0) {

		md = 0;

	}

	return md;

}

... {

	int ec = 0; // Error code

	ec = m.SetGoalPosition(1, encode_theta(angle_to_encode));

	if (ec != 0) {

		// Handle error

	}

}

```