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updated util functions #1

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657e4c7
updated util functions
xykl0n3 Mar 3, 2019
22081a0
Update util.py
xykl0n3 Mar 4, 2019
36ffbb8
Update util.py
xykl0n3 Mar 4, 2019
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12 changes: 6 additions & 6 deletions dxl2/register.py
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Original file line number Diff line number Diff line change
Expand Up @@ -63,17 +63,17 @@ class Instruction(Enum):
Instruction.MODEL_NUMBER_H: [1],
Instruction.MODEL_NUMBER: [1, 0],
Instruction.TORQUE_ENABLE: [24],
Instruction.GOAL_POSITION: [31, 30],
Instruction.MOVING_SPEED: [33, 32],
Instruction.PRESENT_POSITION: [37, 36],
Instruction.GOAL_POSITION: [30, 31],
Instruction.MOVING_SPEED: [32, 33],
Instruction.PRESENT_POSITION: [36, 37],
}

MX: Dict[Instruction, List[int]] = {
Instruction.MODEL_NUMBER_L: [0],
Instruction.MODEL_NUMBER_H: [1],
Instruction.MODEL_NUMBER: [1, 0],
Instruction.TORQUE_ENABLE: [24],
Instruction.GOAL_POSITION: [31, 30],
Instruction.MOVING_SPEED: [33, 32],
Instruction.PRESENT_POSITION: [37, 36],
Instruction.GOAL_POSITION: [30, 31],
Instruction.MOVING_SPEED: [32, 33],
Instruction.PRESENT_POSITION: [36, 37],
}
12 changes: 11 additions & 1 deletion dxl2/util.py
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Original file line number Diff line number Diff line change
@@ -1,5 +1,4 @@
import dynamixel_sdk as sdk

from dynamixel_sdk import DXL_LOBYTE, DXL_LOWORD, DXL_HIBYTE, DXL_HIWORD


Expand All @@ -21,3 +20,14 @@ def create2ByteArray(bin_value):
def create1ByteArray(bin_value):
byte_array = [DXL_LOBYTE(DXL_LOWORD(bin_value))]
return byte_array


def angleAX(val):
agl = int(512 + (val/0.29))
if(agl>1023):
return 1023
elif(agl<0):
return 0
else:
return agl