From e8f1a67f34da10f7d98c757bdff7fdaa0b9e7fe1 Mon Sep 17 00:00:00 2001 From: Gregwar Date: Tue, 30 May 2017 13:20:19 +0200 Subject: [PATCH] Clarifications --- firmware/README.md | 5 +++-- 1 file changed, 3 insertions(+), 2 deletions(-) diff --git a/firmware/README.md b/firmware/README.md index a686927..d8e30f4 100644 --- a/firmware/README.md +++ b/firmware/README.md @@ -43,7 +43,7 @@ Each gauge value is a signed 24 bit value (least significant byte first), result of 3 bytes. Thus, the values of the four gauges are 12 bytes. These bytes can be read at the present position address of the dynamixel registers (``0x24`` / 36). -0x24 | 0x27 | 0x2a | 0x2d +0x24-0x26 | 0x27-0x29 | 0x2a-0x2c | 0x2d-0x2f -------|--------|-------|-------- Jauge 1 | Jauge 2 | Jauge 3 | Jauge 4 @@ -53,7 +53,8 @@ Here is an example of C code to read the values from one jauge: #include // The bytes are here LSB, the same order that it appear in the dynamixel -// (For instance, jauge 1 values are 0x24 for b0, 0x25 for b1 and 0x26 for b2) +// (For instance, jauge 1 values are at dynamixel addresses 0x24 for b0, 0x25 +// for b1 and 0x26 for b2) int32_t decode24bits(uint8_t b0, uint8_t b1, uint8_t b2) { int32_t result = (