From 0a7a8e3b5a0aaed8f0f04f3083482f17224167db Mon Sep 17 00:00:00 2001
From: Augustin Crampette <augustin.crampette@gmail.com>
Date: Fri, 24 May 2024 17:10:36 +0200
Subject: [PATCH] Add current based position registers

---
 src/device/xm.rs | 5 +++--
 1 file changed, 3 insertions(+), 2 deletions(-)

diff --git a/src/device/xm.rs b/src/device/xm.rs
index 1d3da68..08a5bfa 100644
--- a/src/device/xm.rs
+++ b/src/device/xm.rs
@@ -24,7 +24,7 @@ reg_read_write!(temperature_limit, 31, u8);
 reg_read_write!(max_voltage_limit, 32, u16);
 reg_read_write!(min_voltage_limit, 34, u16);
 reg_read_write!(acceleration_limit, 40, u32);
-reg_read_write!(torque_limit, 48, u16);
+reg_read_write!(current_limit, 38, u16);
 reg_read_write!(velocity_limit, 44, u32);
 reg_read_write!(max_position_limit, 48, u32);
 reg_read_write!(min_position_limit, 52, u32);
@@ -45,6 +45,7 @@ reg_read_write!(feedforward_1st_gain, 90, u16);
 reg_read_write!(bus_watchdog, 98, u8);
 
 reg_read_write!(goal_pwm, 100, u16);
+reg_read_write!(goal_current, 102, u16);
 reg_read_write!(goal_velocity, 104, u32);
 reg_read_write!(profile_acceleration, 108, u32);
 reg_read_write!(profile_velocity, 112, u32);
@@ -53,7 +54,7 @@ reg_read_only!(realtime_tick, 120, u16);
 reg_read_only!(moving, 122, u8);
 reg_read_only!(moving_status, 123, u8);
 reg_read_only!(present_pwm, 124, u16);
-reg_read_only!(present_load, 126, u16);
+reg_read_only!(present_current, 126, u16);
 reg_read_only!(present_velocity, 128, u32);
 reg_read_only!(present_position, 132, u32);
 reg_read_only!(velocity_trajectory, 136, u32);