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resibots / libdynamixel

C++ interface to the dynamixel actuators
GNU General Public License v2.0
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Ct cleanup #47

Closed dogoepp closed 6 years ago

dogoepp commented 6 years ago

Clean the control tables to remove redundant parameters.

In the meantime, control parameters are reorganised in base_servo.hpp.

These changes break the API for people using PID parameters for protocol 1, "control_mode" for XL-320 and "current" or "sensed_current".

@costashatz Do you see any objection to merging this ?

dogoepp commented 6 years ago

@naoki-mizuno, since you use this library, do you have an opinion on these changes ?

naoki-mizuno commented 6 years ago

Looks good to me! Although, I haven't used it with XL-320, so my opinion may be a bit biased.

dogoepp commented 6 years ago

Neither did we. It was implemented solely from documentation and never tested. We don't have this actuator. So I'll carry on and merge.