From 4d904ca72c5e7927017f7be4f8c4acda25868106 Mon Sep 17 00:00:00 2001 From: Honghyun Date: Thu, 9 May 2024 15:55:45 +0900 Subject: [PATCH] add Y-series define --- c++/example/protocol2.0/read_write/read_write.cpp | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/c++/example/protocol2.0/read_write/read_write.cpp b/c++/example/protocol2.0/read_write/read_write.cpp index 1a07dcf0..033b99bd 100644 --- a/c++/example/protocol2.0/read_write/read_write.cpp +++ b/c++/example/protocol2.0/read_write/read_write.cpp @@ -49,6 +49,7 @@ // #define P_SERIES // PH54, PH42, PM54 // #define XL320 // [WARNING] Operating Voltage : 7.4V // #define MX_SERIES // MX series with 2.0 firmware update. +// #define Y_SERIES // Y70, Y80 // Control table address #if defined(X_SERIES) || defined(MX_SERIES) @@ -79,6 +80,13 @@ #define MINIMUM_POSITION_LIMIT 0 // Refer to the CW Angle Limit of product eManual #define MAXIMUM_POSITION_LIMIT 1023 // Refer to the CCW Angle Limit of product eManual #define BAUDRATE 1000000 // Default Baudrate of XL-320 is 1Mbps +#elif defined(Y_SERIES) + #define ADDR_TORQUE_ENABLE 512 // Control table address is different in DYNAMIXEL model + #define ADDR_GOAL_POSITION 532 + #define ADDR_PRESENT_POSITION 552 + #define MINIMUM_POSITION_LIMIT -262144 // Refer to the Minimum Position Limit of product eManual + #define MAXIMUM_POSITION_LIMIT 262144 // Refer to the Maximum Position Limit of product eManual + #define BAUDRATE 57600 #endif // DYNAMIXEL Protocol Version (1.0 / 2.0)