Interfaces for previously-defined functions. More...

Collaboration diagram for Interfaces for previously-defined functions:

Functions
void	AX12A_SetComplianceSlope (Dynamixel_HandleTypeDef *hdynamixel, uint8_t complianceSlope)
	Sets both the CW and CCW compliance slope. More...

void	AX12A_SetComplianceMargin (Dynamixel_HandleTypeDef *hdynamixel, uint8_t complianceMargin)
	Sets both the CW and CCW compliance margin. More...

Detailed Description

Interfaces for previously-defined functions.

Interfaces for previously-defined functions

This subsection provides a set of functions which implement functions which call previously-defined functions in order to accomplish specific tasks.

Function Documentation

◆ AX12A_SetComplianceMargin()

void AX12A_SetComplianceMargin	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	complianceMargin
	)

Sets both the CW and CCW compliance margin.

"Sets the 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"

Parameters

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

Returns: None

Definition at line 260 of file AX12A.c.

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◆ AX12A_SetComplianceSlope()

void AX12A_SetComplianceSlope	(	Dynamixel_HandleTypeDef *	hdynamixel,
		uint8_t	complianceSlope
	)

Sets both the CW and CCW compliance slope.

"Sets the compliance slope for the current motor, which 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"