Range of xl320 is 300 but would expect 360

[haixuanTao]

rustypot/src/device/xl320.rs

Lines 63 to 76 in 3b2930d

	/// Unit conversion for XL-320 motors
	pub mod conv {
	/// Dynamixel angular position to radians
	///
	/// Works in joint and multi-turn mode
	pub fn xl320_pos_to_radians(pos: i16) -> f64 {
	(300.0_f64.to_radians() * (pos as f64) / 1024.0) - 150.0_f64.to_radians()
	}
	/// Radians to dynamixel angular position
	///
	/// Works in joint and multi-turn mode
	pub fn radians_to_xl320_pos(rads: f64) -> i16 {
	(1024.0 * (150.0_f64.to_radians() + rads) / 300.0_f64.to_radians()) as i16
	}

I was wondering why when converting angles from xl320 from angular bit to radians, the range chosen is 300 and not 360.

I guess its probably linked to the Drive mode right?

In which case I would guess it could be good to:

• A. document it
• B. maybe add a debug assertion or something as to not confuse users.

[SteveNguyen]

Hi,
Well it looks like for the XL320 the valid range is in [0°, 300°] in joint mode.
cf. https://emanual.robotis.com/docs/en/dxl/x/xl320/#present-position ?