getPresentCurrent

Description

This function gets present current of DYNAMIXEL.

Syntax

• getPresentCurrent(id, value, unit)

Parameters

• id : ID of a specific DYNAMIXEL. Data type : unsigned int8
• value : Present Current value in raw value(default) or milli amphere or percentage. Data type : float
• unit : Types of value. Data type : unsigned int8
  • For raw value : UNIT_RAW (default)
  • For milli amphere(mA) : UNIT_MILLI_AMPERE
  • For Percentage value : UNIT_PERCENT

Returns

• Present Current value on success.
• False(0) on failure. Use getLastErrorCode() to see if this value indicates an error.

Example

  const int DXL_DIR_PIN = 2;
  Dynamixel2Arduino dxl(Serial1, DXL_DIR_PIN);
  Serial.print(dxl.getPresentCurrent(1)); //use default raw value
  Serial.print(dxl.getPresentCurrent(2, UNIT_MILLI_MAPERE)); //use mA
  Serial.print(dxl.getPresentCurrent(3, UNIT_PERCENT)); //use percentage (-100 ~ 100 %)