Endless Turn Mode Support

arebgun / dynamixel_motor

ROS stack for interfacing with Robotis Dynamixel line of servo motors.

BSD 3-Clause "New" or "Revised" License

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Open sugarsweetrobotics opened 10 years ago

sugarsweetrobotics commented 10 years ago

Add Endless Turn Mode Support. When max_angle is 0.0 and min_angle is 0.0, Dynamixel turns to Endless Turn Mode (Usefull for Mobile Robot).

This modification supports negative speed support for Endless Turn Mode.

sugarsweetrobotics commented 10 years ago

Update for Endless Turn Mode Support.

Endless Turn Mode supports "MovingSpeed = 0" (in position mode, speed=0 means maximum speed).

arebgun commented 10 years ago

Hi, the endless wheel mode is already supported by the JointTorqueController, does that not work for you?

sugarsweetrobotics commented 10 years ago

I did not test the JointTorqueController. I've already sent the robot to the owner.... OMG. Thanks! I'll check it next.