controlling the speed with the dynamixel sdk?

[animaniac]

hi, I'm learning the sdk to write my first program, but there's no information on how to reach a certain position at a certain speed, can the dynamixel speed be controlled in C++?

[siempre.aprendiendo]

Yes, it's possible. You only should set the proper paremeters:

From Robotis e-Manual

32 (0X20) Moving Speed(L)
33 (0X21) Moving Speed(H)

using the Robotis SDK function dxl_set_txpacket_parameter

[animaniac]

thanks, what are lowest and highest byte for?

[siempre.aprendiendo]

High-Low is the order of the bytes, the two bytes for the value of the speed:

speed = 1000 (decimal) (03 E8, hexadecimal)

0x20 <- E8 (low, l)
0x21 <- 03 (hign, h)