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BUGFIX: Updating the motor type to XM430-w210 #4

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BUGFIX: Updating the motor type to XM430-w210 #4

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7 changes: 4 additions & 3 deletions robel/components/robot/dynamixel_client.py
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Original file line number Diff line number Diff line change
Expand Up @@ -23,7 +23,7 @@

PROTOCOL_VERSION = 2.0

# The following addresses assume XH motors.
# The following addresses assume XM motors.
ADDR_TORQUE_ENABLE = 64
ADDR_GOAL_POSITION = 116
ADDR_PRESENT_POSITION = 132
Expand All @@ -39,9 +39,10 @@
LEN_GOAL_POSITION = 4

DEFAULT_POS_SCALE = 2.0 * np.pi / 4096 # 0.088 degrees
# See http://emanual.robotis.com/docs/en/dxl/x/xh430-v210/#goal-velocity
# http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/#goal-velocity
DEFAULT_VEL_SCALE = 0.229 * 2.0 * np.pi / 60.0 # 0.229 rpm
DEFAULT_CUR_SCALE = 1.34
# http://emanual.robotis.com/docs/en/dxl/x/xm430-w210/#goal-current
DEFAULT_CUR_SCALE = 0.00269


def dynamixel_cleanup_handler():
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