I an mew to dynamixels and trying to learn to drive them. I am using a CM-550 controller and programming in python.
I am trying to work out how best to detect when the dynamixel has reached it goal position.
this is what I have done:
set register 11 to 3
register 10 to 0
then turn torque on
set register 112 to my desired speed
when I set my goal position the dynamixel starts to move towards goal position and I now need my code to wait till it reaches it goal position before executing the next command.
if I monitor the status of register 122 it return 0 on first couple of reads as the dynamixel has not yet picked up speed then reads 1 after that till it get to goal position. If set a really low speed in register 112 then it reads 0 the whole time .
What’s the best way to wait till it has reached the goal position??