4310 sudden movement bug fix#75
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The new constructor doesn't seem to allow setting |
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Fix the bug for 4310 position read.
Originally, the position read by 4310 is between -2pi
0, but the command that 4310 receives is from -pipi, so if we set 4310 to its current position read, it's possible to see that 4310 will suddenly rotation one full rotation. This is probably because the position data is 16 bits and we are using 16-bit int data type in the code.WARNING: This commit only fixes this problem by wrapping the angle received between -P_MAX and P_MAX, and does not try to fix the issue from the basic level.
Allow change in 4310 position feedback range.
Originally, 4310 feedback range is a constant (-PI~PI). But actually, the range can be changed using dm's PC software. So now there's a second constructor for 4310 motor that allows customized position feedback range.