# (Dynamixel) Inverse rotation direction

I'm wondering if there's a feature to "flip" the rotation direction with Dynamixel (I'm using MX-106). For example, if I give +1.57 to the motor, then it interprets it as -1.57. And the other way around.

I'm using its ROS driver package that doesn't seem to explicitly claim that there's a feature to do this, although there is a question where a user reported he was able to do this from source code. But I failed to replicate. So I first wanted to ask about the capability of the device itself since I don't know if the limitation comes from the Dynamixel device or from ROS driver.

Thank you.

(UPDATE) Usecase of mine is that I have multiple robots where the direction of how Dynamixel is attached is different per robot, and ideally like to flip the motor's direction at driver's level so that I can keep using the same controller software.

• This does beg the question of why do you want to have the motor flip the direction, when surely you could flip the input to the motor yourself? – user9092 May 3 '15 at 17:01
• @James R I've updated my OP to answer your comment. – IsaacS May 4 '15 at 1:56