Problem with reading some values

UGA-BSAIL / dynamixel-controller

A definitive Dynamixel motor package compatible with any Dynamixel motor or control table

Apache License 2.0

5 stars 5 forks source link

Problem with reading some values #2

Open brucejiverson opened 3 years ago

brucejiverson commented 3 years ago

Set up: using a XM430-W210 Reading values that can be negative, such as velocity and current causes values to overflow when those values are less than 0. I suspect the function MAKE_WORD in the file dynamixel_sdk/robotis_def.py, although by bit math is a bit rusty. Could be wrong here.

Would the owner be willing to let me pull the repository? I would like to add functionality for things like velocity and current, as well as unit conversions.

Jyumpp commented 2 years ago

Hi, the issue you described exists within the Dynamixel SDK, which I have just included in this project as a dependency but was pulled from Robotis themselves. Protocol 1 motors do support negative values, but rather they use 1's compliment encoding rather than 2's compliment, which makes it a bit harder to process. My library does make use of doing the conversation for you.