dynamixel-genom3

On Tuesday 6 Sep 2022, at 19:27, Gianluca Corsini wrote:

as the subject states, I added the possibility to log into this
module

Why is it important to log both the 'decoded' data (as a double) and
the 'raw' data (integer subject to scaling)?

I would just log the decoded values, no?

Oh yes, my bad!

I needed the decoded value to test my library for the gazebo plugin, since I had to make sure to reconstruct correctly the decoded values.

In general, the double values are more user-friendly and the module should log them. I will change the code tomorrow and update this issue.

Do you think it may be helpful to have the possibility to log both, maybe according to a given boolean flag?

On Tuesday 6 Sep 2022, at 19:41, Gianluca Corsini wrote:

In general, the double values are more user-friendly and the module
should log them. I will change the code tomorrow and update this
issue.

OK, good. Also, remember that identifiers starting with _ (underscore)
are reserved by the C standard. (e.g you use _double struct member)

While here, I noticed that you have a lot of 'sprintf' and 'strcat',
this is really not efficient. You could either use something along
"pos += snprintf(pos, end-pos, ...)" or a simple standard format like
"%g%g%g...", array⁰, array¹, array² ...

Ok, thanks a lot for all the tips. I will take them into consideration.

Thanks, I'll look into merging it!

ok great, thanks a lot!!