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getPresentPosition

Description​

This function gets present position (joint) of DYNAMIXEL.

Syntax​

  • getPresentPosition(id, unit)

Parameters​

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

Returns​

  • Position 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.getPresentPosition(1)); //use default encoder value
  Serial.print(dxl.getPresentPosition(1, UNIT_DEGREE)); //use angle in degree
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