Setters

Register-setting functions. More...

Collaboration diagram for Setters:

Functions
void	AX12A_SetCWComplianceMargin (Dynamixel_HandleTypeDef *hdynamixel, uint8_t CWcomplianceMargin)
	Sets the clockwise compliance margin for the current motor. More...
void	AX12A_SetCCWComplianceMargin (Dynamixel_HandleTypeDef *hdynamixel, uint8_t CCWcomplianceMargin)
	Sets the counter-clockwise compliance margin for the current motor. More...
void	AX12A_SetCWComplianceSlope (Dynamixel_HandleTypeDef *hdynamixel, uint8_t CWcomplianceSlope)
	Sets the clockwise compliance slope for the current motor. More...
void	AX12A_SetCCWComplianceSlope (Dynamixel_HandleTypeDef *hdynamixel, uint8_t CCWcomplianceSlope)
	Sets the counter-clockwise compliance slope for the current motor. 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

AX12A_SetCCWComplianceMargin()

void AX12A_SetCCWComplianceMargin	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	CCWcomplianceMargin
	)

Sets the counter-clockwise compliance margin for the current motor.

The compliance margin is the acceptable error between the current position and goal position. The greater the value, the more error is acceptable

Instruction register address: 0x1B (RAM)

Default value: 0x01

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
CCWcomplianceMargin	the acceptable error between the current and goal position. Arguments in range [0, 255]

Returns

None

Definition at line 119 of file AX12A.c.

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AX12A_SetCCWComplianceSlope()

void AX12A_SetCCWComplianceSlope	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	CCWcomplianceSlope
	)

Sets the counter-clockwise compliance slope for the current motor.

The compliance slope sets the level of torque near the goal position. The higher the value, the more flexibility that is obtained. That is, a high value means that as the goal position is approached, the torque will be significantly reduced. If a low value is used, then as the goal position is approached, the torque will not be reduced all that much

Instruction register address: 0x1D (RAM)

Default value: 0x20

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
CCWcomplianceSlope	arguments in range [1, 7], with 1 being the least flexible

Returns

None

Definition at line 181 of file AX12A.c.

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AX12A_SetCWComplianceMargin()

void AX12A_SetCWComplianceMargin	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	CWcomplianceMargin
	)

Sets the clockwise compliance margin for the current motor.

The compliance margin is the acceptable error between the current position and goal position. The greater the value, the more error is acceptable

Instruction register address: 0x1A (RAM)

Default value: 0x01

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
CWcomplianceMargin	the acceptable error between the current and goal position. Arguments in range [0, 255]

Returns

None

Definition at line 96 of file AX12A.c.

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AX12A_SetCWComplianceSlope()

void AX12A_SetCWComplianceSlope	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	CWcomplianceSlope
	)

Sets the clockwise compliance slope for the current motor.

The compliance slope sets the level of torque near the goal position. The higher the value, the more flexibility that is obtained. That is, a high value means that as the goal position is approached, the torque will be significantly reduced. If a low value is used, then as the goal position is approached, the torque will not be reduced all that much

Instruction register address: 0x1C (RAM)

Default value: 0x20

Parameters

hdynamixel	pointer to a Dynamixel_HandleTypeDef structure that contains the configuration information for the motor
CWcomplianceSlope	arguments in range [1, 7], with 1 being the least flexible

Returns

None

Definition at line 145 of file AX12A.c.

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