Difference between revisions of "CanServo/POSITION-32"
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(Created page with "회전수가 포함된 위치값 ( TURN x 16384 + POSITION ) 을 32 비트 값으로 확인할수 있습니다. 32 bit = 4 byte 이므로, 2 byte 씩 나누어 2개의 Registe...") |
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Servo Position = (signed)TURN x 16384 + (unsigned)POSITION | |||
2 Registers | |||
* Low 2 byte = 0x1A | |||
** High 2 byte = 0x1C | ** Value = Low Word of Position | ||
* High 2 byte = 0x1C | |||
** Value = High Word of Position | |||
<pre> | |||
// Host: C style: | |||
int16_t H = (int16_t) read_register(0x1C); | |||
uint16_t L = (uint16_t) read_register(0x1A); | |||
int32_t get_position = H x 65536 + L; | |||
</pre> | |||
Latest revision as of 16:32, 29 September 2021
Servo Position = (signed)TURN x 16384 + (unsigned)POSITION
2 Registers
- Low 2 byte = 0x1A
- Value = Low Word of Position
- High 2 byte = 0x1C
- Value = High Word of Position
// Host: C style: int16_t H = (int16_t) read_register(0x1C); uint16_t L = (uint16_t) read_register(0x1A); int32_t get_position = H x 65536 + L;