setGoalPosition

Description

This function controls position(joint) of DYNAMIXEL.

Syntax

• setGoalPosition(id, value, unit)

Parameters

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

Returns

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

Example

  const int DXL_DIR_PIN = 2;
  Dynamixel2Arduino dxl(Serial1, DXL_DIR_PIN);
  dxl.setGoalPosition(1, 512); //use default encoder value
  dxl.setGoalPosition(2, 45.0, UNIT_DEGREE); //use angle in degree