Merge pull request #56 from pollen-robotics/xm430

Add current based position registers

Author: SteveNguyen

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);