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resibots / libdynamixel

C++ interface to the dynamixel actuators
GNU General Public License v2.0
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Get signed position for XM series #64

Open mrunaljsarvaiya opened 3 years ago

mrunaljsarvaiya commented 3 years ago

Is there a method to read the signed position from dynamixels? If I move the dynamixel to -PI/2 (confirmed through dynamixel wizard) the get_present_position_angle method returns 18301.

dogoepp commented 3 years ago

I assume that you are interested in the raw value for "present position", which range would be -2,147,483,648 to 2,147,483,647¹ if and only if the actuator is not in position control mode.

In that context, the source code does currently handle this signed raw value. Since you have a servo at hand, would you consider proposing a fix ?