getPresentVelocity

Description

This function gets present velocity(wheel mode speed) of DYNAMIXEL.

Syntax

• getPresentVelocity(id, unit)

Parameters

• id : ID of a specific DYNAMIXEL. Data type : unsigned int8
• unit : Types of value. Data type : unsigned int8
  • For raw value : UNIT_RAW (default)
  • For RPM value : UNIT_RPM
  • For Percentage value : UNIT_PERCENT

Returns

• Velocity 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.getPresentVelocity(1)); //use default raw value
  Serial.print(dxl.getPresentVelocity(2, UNIT_RPM)); //use RPM
  Serial.print(dxl.getPresentVelocity(3, UNIT_PERCENT)); //use percentage (-100 ~ 100 %)