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The basic Operating Mode of Dynamixel is Position Control Mode. So we used the remainder of 4096. 4096 represent one round in Dynamixel unit. For details, see the control table of each motor.
from dynamixel_helper import DxlHelper
helper = DxlHelper("my_preset.json")
motor_id = 0
motor = helper.get_motor(motor_id)
motor.set_torque(True)
dxl_unit, res = motor.get_present_position()
motor.set_goal_position((dxl_unit + 2000) % 4096)- Next Tutorial: Not yet.
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