From 84d759e97b83343ecc9903ff4dd73599fd23e475 Mon Sep 17 00:00:00 2001
From: Actat <akio.toyosh@gmail.com>
Date: Thu, 9 Nov 2023 16:48:25 +0900
Subject: [PATCH] velocity control test

---
 dynamixel_sdk_examples/src/read_write_node.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/dynamixel_sdk_examples/src/read_write_node.cpp b/dynamixel_sdk_examples/src/read_write_node.cpp
index 3a3db889..94c0f782 100644
--- a/dynamixel_sdk_examples/src/read_write_node.cpp
+++ b/dynamixel_sdk_examples/src/read_write_node.cpp
@@ -42,7 +42,7 @@
 // Control table address for X series (except XL-320)
 #define ADDR_OPERATING_MODE 11
 #define ADDR_TORQUE_ENABLE 64
-#define ADDR_GOAL_POSITION 116
+#define ADDR_GOAL_POSITION 104
 #define ADDR_PRESENT_POSITION 132
 
 // Protocol version
@@ -145,7 +145,7 @@ void setupDynamixel(uint8_t dxl_id)
     portHandler,
     dxl_id,
     ADDR_OPERATING_MODE,
-    3,
+    1,
     &dxl_error
   );