Current-based Position Control Mode question

Hardware Support DYNAMIXEL
#1

DYNAMIXEL Actuator

MX_64

Issue Description

I do not understand how to set both goal current value and goal pwm value?

how to set both of them?

what is difference if I only set goal current?

thanks!

#2

Goal PWM values are only used in PWM control mode, and do not need to be set for current controlled operation.