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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
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