I have already successfully made the motor run in "Cyclic_sync_position" mode, which is the defaut mode. Now I'm trying to run in "Profiled_position" mode, so I wrote "1" in the xacro file, and the motor switched on in "Profiled_position" mode indeed. But when I run the command_publisher which send the target_position to the controller, the motor didn't move, I checked the target position of the motor and found that the value didn't change into the value I sent. This is the first question.
And the second question is that, we know that in "Profiled_position" mode, we need to write the control_word"0x1f" after writing a new target position to the motor to enable it, but I didn't find this process in the "generic_ec_cia402_drive", does it mean I need to modify the code ? If so, how am I suppose to do it?
I have already successfully made the motor run in "Cyclic_sync_position" mode, which is the defaut mode. Now I'm trying to run in "Profiled_position" mode, so I wrote "1" in the xacro file, and the motor switched on in "Profiled_position" mode indeed. But when I run the command_publisher which send the target_position to the controller, the motor didn't move, I checked the target position of the motor and found that the value didn't change into the value I sent. This is the first question.
And the second question is that, we know that in "Profiled_position" mode, we need to write the control_word"0x1f" after writing a new target position to the motor to enable it, but I didn't find this process in the "generic_ec_cia402_drive", does it mean I need to modify the code ? If so, how am I suppose to do it?