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HumaRobotics / dynamixel_hr

Python Library for Robotis Dynamixel motors
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How to get the Dynamixel's load? #8

Open HumbleLegacy opened 6 years ago

HumbleLegacy commented 6 years ago

Hey guys, your library has helped me really well so far. Is there a way to get the load of the servo? The get_position is really easy, but there is nothing for other values of the servo.

I think the command: "def _read(self,id,address,size):" could help me there. Is that true and how would i have to use "address" and "size"?

I am using the MX-64AR btw. Thank you

HumbleLegacy commented 6 years ago

Okay I understand this better now, but it seems the MX-64AR is using a different control table. That control table does not have values for the size included. Seems like the MX-64AR is controlled differently. Is there still a way to make this work? I can perfectly move the servo and read the position with "chain.goto" and "chain.get_position", but cant quite access more advanced commands.

Philippe-Capdepuy commented 6 years ago

Hi,

You should be able to do a chain.get_reg(MOTOR_ID,"present_load") to obtain the load value.

HumbleLegacy commented 6 years ago

Works like a charm. Thank you!