Setters

Register-setting functions. More...

Collaboration diagram for Setters:

Functions
void	MX28_SetMultiTurnOffset (Dynamixel_HandleTypeDef *hdynamixel, int16_t offset)
	For an actuator in multi-turn mode, this applies a tunable offset to all positions. That is it allows you to change where the actuator considers position 0 to be. For an actuator not in multi-turn mode, this setting has no effect. More...
void	MX28_SetResolutionDivider (Dynamixel_HandleTypeDef *hdynamixel, uint8_t divider)
	Unimplemented. This function should change the resolution divider, allowing for more precise or less precise control settings depending on the value. More...
void	MX28_SetDGain (Dynamixel_HandleTypeDef *hdynamixel, uint8_t DGain)
	Sets the value of the derivative gain used in the motor's PID controller. More...
void	MX28_SetIGain (Dynamixel_HandleTypeDef *hdynamixel, uint8_t IGain)
	Sets the value of the integral gain used in the motor's PID controller. More...
void	MX28_SetPGain (Dynamixel_HandleTypeDef *hdynamixel, uint8_t PGain)
	Sets the value of the proportional gain used in the motor's PID controller. More...
void	MX28_SetGoalAcceleration (Dynamixel_HandleTypeDef *hdynamixel, float goalAcceleration)
	Sets the goal acceleration. The argument should be in units of degree/s^2. More...

Detailed Description

Register-setting functions.

Setter functions

This subsection provides a set of functions which provide interfaces for setting motor register values.

Function Documentation

MX28_SetDGain()

void MX28_SetDGain	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	DGain
	)

Sets the value of the derivative gain used in the motor's PID controller.

kD = DGain / 250

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
DGain	the derivative gain parameter

Returns

None

Definition at line 137 of file MX28.c.

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MX28_SetGoalAcceleration()

void MX28_SetGoalAcceleration	(	Dynamixel_HandleTypeDef *	hdynamixel,
		float	goalAcceleration
	)

Sets the goal acceleration. The argument should be in units of degree/s^2.

Special: goalAcceleration of 0 means no control over accel (uses max acceleration of motor)

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
goalAcceleration	the target acceleration in degree/s^2

Returns

None

Definition at line 186 of file MX28.c.

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MX28_SetIGain()

void MX28_SetIGain	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	IGain
	)

Sets the value of the integral gain used in the motor's PID controller.

kI = IGain * 125/256

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
IGain	the integral gain parameter

Returns

None

Definition at line 153 of file MX28.c.

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MX28_SetMultiTurnOffset()

void MX28_SetMultiTurnOffset	(	Dynamixel_HandleTypeDef *	hdynamixel,
		int16_t	offset
	)

For an actuator in multi-turn mode, this applies a tunable offset to all positions. That is it allows you to change where the actuator considers position 0 to be. For an actuator not in multi-turn mode, this setting has no effect.

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
offset	the signed offset argument indicating the offset value to program

Returns

None

Definition at line 100 of file MX28.c.

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MX28_SetPGain()

void MX28_SetPGain	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	PGain
	)

Sets the value of the proportional gain used in the motor's PID controller.

kP = PGain / 8

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
PGain	the proportional gain parameter

Returns

None

Definition at line 169 of file MX28.c.

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MX28_SetResolutionDivider()

void MX28_SetResolutionDivider	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	divider
	)

Unimplemented. This function should change the resolution divider, allowing for more precise or less precise control settings depending on the value.

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
divider	the resolution divider setting

Returns

None

Definition at line 124 of file MX28.c.