Dynamixel/include/Dynamixel/DynaServo.h
int CalcSpeedDir(int nOdGoalPos)
  {
    if( GetServoMode() == DYNA_MODE_CONTINUOUS )
    {
      return nOdGoalPos >= m_state.m_od.m_nOdometer?
                             m_state.m_od.m_nOdDir:
                            -m_state.m_od.m_nOdDir;
    }
    else
    {
      return 1;
    }
  }
/*!
   * \brief Calculate serve direction to goal odometer position.
   *
   * \param nOdGoalPos  Odometer goal position.
   *
   * \return 1 or -1
   */
\brief Calculate serve direction to goal odometer position.
\param nOdGoalPos  Odometer goal position.

\return 1 or -1
\ brief Calculate serve direction to goal odometer position . \ param nOdGoalPos Odometer goal position . \ return 1 or - 1
int CalcSpeedDir(int nOdGoalPos)
  {
    if( GetServoMode() == DYNA_MODE_CONTINUOUS )
    {
      return nOdGoalPos >= m_state.m_od.m_nOdometer?
                             m_state.m_od.m_nOdDir:
                            -m_state.m_od.m_nOdDir;
    }
    else
    {
      return 1;
    }
  }
int CalcSpeedDir ( int nOdGoalPos ) { if ( GetServoMode ( ) == DYNA_MODE_CONTINUOUS ) { return nOdGoalPos >= m_state . m_od . m_nOdometer ? m_state . m_od . m_nOdDir : - m_state . m_od . m_nOdDir ; } else { return 1 ; } }
\brief Calculate serve direction to goal odometer position.
\ brief Calculate serve direction to goal odometer position .