setOperatingMode

Description

This function changes operating mode of DYNAMIXEL.

Syntax

  • setOperatingMode(id, mode)

Parameters

  • id : ID of a specific DYNAMIXEL. Data type : unsigned int8
  • mode : Operating mode to use. Data type : unsigned int8
Decimal Defined Mode
0 OP_POSITION Position Control Mode
1 OP_EXTENDED_POSITION Extended Position Control Mode
2 OP_CURRENT_BASED_POSITION Current-based Position Control Mode
3 OP_VELOCITY Velocity Control mode
4 OP_PWM PWM Control Mode
5 OP_CURRENT Curernt Control Mode

Returns

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

Example

  const int DXL_DIR_PIN = 2;
  Dynamixel2Arduino dxl(Serial1, DXL_DIR_PIN);
  dxl.setOperatingMode(1, OP_POSITION);