OPERATING_MODE enums not correct numbers?

[LegacyMecha]

When I use "mode = dynamixel.readControlTableItem(OPERATING_MODE, id)" on an XH430, I get "3" when it's set to Position Mode, but in code, when I check "mode == OP_POSITION" OP_POSITION is 0 and OP_VELOCITY is actually "3". Am I doing something wrong? On Serial.print(OP_POSITION) = 0, but in DynamixelWizard "Operating Mode(11)" = 3 Position Mode.

[ROBOTIS-Will]

Hi @LegacyMecha

You are correct, and there's nothing wrong in your code.
As you mentioned, the actual value for the Position Control Mode is 3.
In the DYNAMIXEL2Arduino library, the operating mode is defined by a enumeration which begins with OP_POSITION = 0 as below.
https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/blob/master/src/Dynamixel2Arduino.h#L25

Since this could be confusing, I'll list up this in the to do list.
Thank you!

[LegacyMecha]

It would be nice to have a function maybe that can check which mode a servo is in. Like getOperatingMode(id) and then do a compare (==) to OP_VELOCITY, OP_POSITION...etc.

[ROBOTIS-Will]

@LegacyMecha
Thanks for your feedback.
I'll keep updating the status via this thread.