Problem with reading some values

[brucejiverson]

Set up: using a XM430-W210
Reading values that can be negative, such as velocity and current causes values to overflow when those values are less than 0. I suspect the function MAKE_WORD in the file dynamixel_sdk/robotis_def.py, although by bit math is a bit rusty. Could be wrong here.

Would the owner be willing to let me pull the repository? I would like to add functionality for things like velocity and current, as well as unit conversions.

[Jyumpp]

Hi, the issue you described exists within the Dynamixel SDK, which I have just included in this project as a dependency but was pulled from Robotis themselves. Protocol 1 motors do support negative values, but rather they use 1's compliment encoding rather than 2's compliment, which makes it a bit harder to process. My library does make use of doing the conversation for you.