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Thread: Calculating Torque

  1. Re: Calculating Torque

    Quote Originally Posted by jwatte View Post
    I think everything will become clear if you learn the difference between a "byte" and a "word," and the difference between "big endian" and "little endian" data, and how to extract different byte values from a given word. That's basic programming knowledge that will serve you well in a future engineering career anyway!
    i'm sorry. i'm little bit blur about this. would you mind to teach me how? because i'm using manual from dynamixel. i change the id and parameter to get the value.

  2. #12

    Re: Calculating Torque

    Quote Originally Posted by jek View Post
    i'm sorry. i'm little bit blur about this. would you mind to teach me how? because i'm using manual from dynamixel. i change the id and parameter to get the value.
    Google is your friend here! Word here is 16 bits, byte is 8 bits. When you read the register table, and it mentions something like highest and lowest byte of something the value is probably a word. If it only mentions some name like id or baud... The value is a byte.

    When you are dealing with a value that is bigger than a byte, you sometimes need to know which order the bytes are stored in a word. This is not the same across all processors, The terms "big endian" and "little endian" deal with the order of the bytes.

    Also have you tried the simple change, I suggested twice now, translating it to your last posting?
    That is change:
    Code:
    VoltageSeatC1(t) = int32(calllib('dynamixel','dxl_read_word',3,42));
    to:
    Code:
    VoltageSeatC1(t) = int32(calllib('dynamixel','dxl_read_byte',3,42));

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