Issue:
I am using a robotic hand that is actuated at the joint level using Dynamixel motors (model XC330-M288-T)
I am using current based position control mode.
I send a position goal to the motors. I am interested to find if the target was properly reached, and what was the error at the end of motion.
I am reading the following position register at address 132. I can properly read the position data (angles in radians) for different motors.
I am interested to also read the position trajectory at address 140. However, during the logging of this data, I can see while the position information is dynamic, the position trajectory is just a static value that matches the target of position command.
On the other hand, when I tried to control the motors using Dynamixel wizard, as I moved the motors, I could see the position trajectory register changing values as well.
Which registers should I read for checking the movement completion status.
I tried to implement the logic for reading profile velocity and profile acceleration at address (112, 108) and both give me a value of 0.
I am sending goal position once, and I reduced the motor current, so that motors move slowly. Then, I can read the dynamic position values of the motors during motion. Since I am sending the actual position goal once is causing the position trajectory not updating dynamically ?
DYNAMIXEL Servo:
XC330-M288-T
DYNAMIXEL Controller:
current based position control mode.
Software Interface:
DynamixelSDK