/// <summary>
/// Sets the torque mode on the servo
/// </summary>
/// <param name="ID">Servo ID</param>
/// <param name="mode">Torque mode</param>
public void SetTorqueMode(ServoId ID, HerkulexDescription.TorqueControl mode)
{
if (Servos.ContainsKey(ID))
{
_SetTorqueMode(ID, mode);
}
}
/// <summary>
/// Sets the torque mode on the servo
/// </summary>
/// <param name="ID">Servo ID</param>
/// <param name="mode">Torque mode</param>
public void SetTorqueMode(byte ID, HerkulexDescription.TorqueControl mode)
{
if (Servos.ContainsKey(ID))
{
_SetTorqueMode(ID, mode);
}
else
{
throw new Exception("The servo ID is not in the dictionary");
}
}
/// <summary>
/// Sets the torque control mode of the specified servo I.e BreakOn / TorqueOn / TorqueFree
/// </summary>
/// <param name="pID">Servo ID</param>
/// <param name="mode">torque mode (TorqueControl enum)</param>
private void _SetTorqueMode(byte pID, HerkulexDescription.TorqueControl mode)
{
RAM_WRITE(pID, HerkulexDescription.RAM_ADDR.Torque_Control, 1, (ushort)mode);
}
