setGoalCurrent

Description

This function controls current of DYNAMIXEL.

Syntax

• setGoalCurrent(id, value, unit)

Parameters

• id : ID of a specific DYNAMIXEL. Data type : unsigned int8
• value : Goal 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

• True(1) on success.
• False(0) on failure.

Example

  const int DXL_DIR_PIN = 2;
  Dynamixel2Arduino dxl(Serial1, DXL_DIR_PIN);
  dxl.setGoalCurrent(1, 100); //use default raw value
  dxl.setGoalCurrent(2, 1000.0, UNIT_MILLI_MAPERE); //use mA
  dxl.setGoalCurrent(3, 50.0, UNIT_PERCENT); //use percentage (-100 ~ 100 %)