WebbotLib AVR library
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getActualSpeed

Following a successful read() this will return the current position or speed of the servo.
The current actual position, or speed, of the servo in the range DRIVE_SPEED_MIN to DRIVE_SPEED_MAX. You can compare this in a feedback loop, or PID controller, against the last position you requested which can be recalled by calling servo.getSpeed().
Syntax
DynamixelAX12. getActualSpeed()
Where DynamixelAX12 is the name you have given to the device in Project Designer.
Parameters
None
Returns
DRIVE_SPEED

 

 

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