Diff: Mx28.h

Revision:

4:ffe33f18ab21

Parent:

3:e221394e585b

--- a/Mx28.h	Mon Jul 17 02:19:12 2017 +0000
+++ b/Mx28.h	Tue Oct 24 02:36:58 2017 +0000
@@ -68,7 +68,8 @@
 #define RAM_LOCK                        0x2F
 #define RAM_PUNCH_L                     0x30
 #define RAM_PUNCH_H                     0x31
-
+#define RAM_PRESENT_CURRENT_L           0x44
+#define RAM_PRESENT_CURRENT_H           0x45
 #define RAM_TORQUE_CONTROL_MODE_ENABLE  0X46
 #define RAM_GOAL_TORQUE_L               0X47
 #define RAM_GOAL_TORQUE_H               0X48
@@ -100,6 +101,7 @@
 #define READ_LOAD_LENGTH                0x04
 #define READ_SPEED_LENGTH               0x04
 #define READ_VOLT_LENGTH                0x04
+#define READ_CURRENT_LENGTH             0x04
 #define READ_REGISTER_LENGTH            0x04
 #define READ_MOVING_LENGTH              0x04
 #define READ_LOCK_LENGTH                0x04
@@ -141,7 +143,7 @@
 
 #define HEADER                          0xFF
 
-#define STATUS_PACKET_TIMEOUT           5      // in millis()
+#define STATUS_PACKET_TIMEOUT           3      // in millis()
 #define STATUS_FRAME_BUFFER             5
 
 
@@ -188,6 +190,7 @@
     
     unsigned int readTemperature(unsigned char);
     unsigned int readVoltage(unsigned char);
+    unsigned int readCurrent(unsigned char);
     unsigned int readPosition(unsigned char);
     unsigned int readLoad(unsigned char);
     unsigned int readSpeed(unsigned char);