Improve feetech register conversion.

Author: pierre-rouanet

src/servo/feetech/sts3215.rs

@@ -11,8 +11,8 @@ generate_servo!(
     reg: (baudrate, rw, 6, u8, None),
     reg: (return_delay_time, rw, 7, u8, None),
     reg: (response_status_level, rw, 8, u8, None),
-    reg: (min_angle_limit, rw, 9, u16, None),
-    reg: (max_angle_limit, rw, 11, u16, None),
+    reg: (min_angle_limit, rw, 9, i16, AnglePosition),
+    reg: (max_angle_limit, rw, 11, i16, AnglePosition),
     reg: (max_temperature_limit, rw, 13, u8, None),
     reg: (max_voltage_limit, rw, 14, u8, None),
     reg: (min_voltage_limit, rw, 15, u8, None),
@@ -28,15 +28,15 @@ generate_servo!(
     reg: (ccw_dead_zone, rw, 27, u8, None),
     reg: (protection_current, rw, 28, u16, None),
     reg: (angular_resolution, rw, 30, u8, None),
-    reg: (offset, rw, 31, i16, None),
+    reg: (offset, rw, 31, i16, AnglePosition),
     reg: (mode, rw, 33, u8, None),
     reg: (protective_torque, rw, 34, u8, None),
     reg: (protection_time, rw, 35, u8, None),
     reg: (overload_torque, rw, 36, u8, None),
     reg: (speed_closed_loop_p_coefficient, rw, 37, u8, None),
     reg: (over_current_protection_time, rw, 38, u8, None),
     reg: (velocity_closed_loop_i_coefficient, rw, 39, u8, None),
-    reg: (torque_enable, rw, 40, u8, None),
+    reg: (torque_enable, rw, 40, u8, bool),
     reg: (acceleration, rw, 41, u8, None),
     reg: (goal_position, rw, 42, i16, AnglePosition),
     reg: (goal_time, rw, 44, u16, None),
@@ -49,7 +49,7 @@ generate_servo!(
     reg: (present_voltage, r, 62, u8, None),
     reg: (present_temperature, r, 63, u8, None),
     reg: (status, r, 65, u8, None),
-    reg: (moving, r, 66, u8, None),
+    reg: (moving, r, 66, u8, bool),
     reg: (present_current, r, 69, u16, None),
     reg: (maximum_acceleration, rw, 85, u16, None),
 );