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);