getPresentPosition

Description

This function gets present position (joint) of DYNAMIXEL.

Syntax

• getPresentPosition(id, unit)

Parameters

• id : ID of a specific DYNAMIXEL. Data type : unsigned int8
• unit : Types of value. Data type : unsigned int8
  • For encoder value : UNIT_RAW (default)
  • For angle value : UNIT_DEGREE

Returns

• Position 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.getPresentPosition(1)); //use default encoder value
  Serial.print(dxl.getPresentPosition(1, UNIT_DEGREE)); //use angle in degree