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Fix for DYNAMIXEL-Y control table error #145

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Fix for DYNAMIXEL-Y control table error #145

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674c5fb
[Fix] Fixed DYNAMIXEL-Y PRESENT_MOTOR_TEMPERATURE ControlTableItem Width
jonghee-son Apr 15, 2025
2ec236b
Revert "[Fix] Fixed DYNAMIXEL-Y PRESENT_MOTOR_TEMPERATURE ControlTabl…
jonghee-son Apr 15, 2025
f6aa9f4
[Fix] Fixed DYNAMIXEL-Y PRESENT_MOTOR_TEMPERATURE ControlTableItem Width
jonghee-son Apr 15, 2025
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2 changes: 1 addition & 1 deletion src/actuator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -493,7 +493,7 @@ const ModelControlTableInfo_t y_control_table[] PROGMEM = {
{ControlTableItem::VELOCITY_TRAJECTORY, 564, 4},
{ControlTableItem::PRESENT_INPUT_VOLTAGE, 568, 2},
{ControlTableItem::PRESENT_TEMPERATURE, 570, 1}, // Present Inverter Temperature
{ControlTableItem::PRESENT_MOTOR_TEMPERATURE, 571, 4},
{ControlTableItem::PRESENT_MOTOR_TEMPERATURE, 571, 1},
Comment on lines 495 to +496
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medium

The data width for PRESENT_MOTOR_TEMPERATURE is being corrected from 4 to 1. This aligns with the DYNAMIXEL-Y series e-Manual, as linked in the pull request description. Is there any additional validation or testing that can be done to confirm this?

Suggested change
{ControlTableItem::PRESENT_TEMPERATURE, 570, 1}, // Present Inverter Temperature
{ControlTableItem::PRESENT_MOTOR_TEMPERATURE, 571, 4},
{ControlTableItem::PRESENT_MOTOR_TEMPERATURE, 571, 1},
{ControlTableItem::PRESENT_TEMPERATURE, 570, 1}, // Present Inverter Temperature
{ControlTableItem::PRESENT_MOTOR_TEMPERATURE, 571, 1},

#endif
{ControlTableItem::LAST_DUMMY_ITEM, 0, 0}
};
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