Merge pull request #29 from ROBOTIS-GIT/develop

Develop

.travis.yml

@@ -25,3 +25,4 @@ notifications:
 branches:
   only:
     - master
+    - develop

README.md

@@ -1,9 +1,23 @@
 # Dynamixel2Arduino [![Build Status](https://travis-ci.org/ROBOTIS-GIT/Dynamixel2Arduino.svg?branch=master)](https://travis-ci.org/ROBOTIS-GIT/Dynamixel2Arduino/branches)
 
+## Serial and Direction Pin definitions by board
+ - The examples default to pins based on DynamixelShield. Therefore, when using hardware other than DynamixelShield (eg OpenCM9.04, OpenCR, Custom DXL boards), you need to change the Serial and Direction Pin.
+ - We provide the information below to make it easier to define Serial and Direction pins for specific hardware.
+
+    |Board Name|Serial|Direction Pin|Note|
+    |:-:|:-:|:-:|:-:|
+    |OpenCM9.04|Serial1|28|because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.|
+    |OpenCM9.04 EXP|Serial3|22||
+    |OpenCR|Serial3|84|For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it. ([Reference link](https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78))|
+
+
 ## How to add new DYNAMIXEL model.
  - For the convenience of the user, Dynamixel2Arduino API hardcodes some information in the control table and stores it in flash.
  - To do this, you need to add code to some files. In this regard, please refer to [PR#3](https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/pull/3) and [PR#7](https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/pull/7)
 
+## How to create custom PortHandler Class
+ - Please refer to [port_handler.h](https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/blob/master/src/utility/port_handler.h)
+ - Create a new class by inheriting PortHandler as public. (Like SerialPortHandler and USBSerialPortHandler)
 
 ## TODO
  - Separation of protocol codes (protocol, packet handler)

examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino

@@ -0,0 +1,174 @@
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+/*
+  This is an example deprecated. (Not recommended, just an example for legacy)
+*/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+/* XelInfoForBulkReadParam_t
+  A structure that contains the information needed for the parameters of the 'bulkRead packet'.
+
+  typedef struct ParamForBulkReadInst{
+    uint8_t id_count;
+    XelInfoForBulkReadParam_t xel[DXL_MAX_NODE]; //refer to below.
+  } ParamForBulkReadInst_t;
+
+  typedef struct XelInfoForBulkReadParam{
+    uint8_t id;
+    uint16_t addr;
+    uint16_t length;
+  } XelInfoForBulkReadParam_t;
+*/
+
+/* XelInfoForBulkWriteParam_t
+  A structure that contains the information needed for the parameters of the 'bulkWrite packet'.
+
+  typedef struct ParamForBulkWriteInst{
+    uint8_t id_count;
+    XelInfoForBulkWriteParam_t xel[DXL_MAX_NODE]; //refer to below. 
+  } ParamForBulkWriteInst_t;
+
+  typedef struct XelInfoForBulkWriteParam{
+    uint8_t id;
+    uint16_t addr;
+    uint16_t length;
+    uint8_t data[DXL_MAX_NODE_BUFFER_SIZE];
+  } XelInfoForBulkWriteParam_t;
+*/
+
+/* RecvInfoFromStatusInst_t
+  A structure used to receive data from multiple XELs.
+
+  typedef struct RecvInfoFromStatusInst{
+    uint8_t id_count;
+    XelInfoForStatusInst_t xel[DXL_MAX_NODE]; //refer to below.
+  } RecvInfoFromStatusInst_t;
+
+  typedef struct XelInfoForStatusInst{
+    uint8_t id;
+    uint16_t length;
+    uint8_t error;
+    uint8_t data[DXL_MAX_NODE_BUFFER_SIZE];
+  } XelInfoForStatusInst_t;
+*/
+
+ParamForBulkReadInst_t bulk_read_param;
+ParamForBulkWriteInst_t bulk_write_param;
+RecvInfoFromStatusInst_t read_result;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+void setup() {
+  // put your setup code here, to run once:
+  DEBUG_SERIAL.begin(115200);
+  dxl.begin(57600);
+  dxl.scan();
+
+  // fill the members of structure for bulkWrite
+  bulk_write_param.xel[0].id = 1;
+  bulk_write_param.xel[1].id = 2;
+  bulk_write_param.xel[0].addr = 116; //Goal Position on X serise
+  bulk_write_param.xel[1].addr = 104; //Goal Velocity on X serise
+  bulk_write_param.xel[0].length = 4;
+  bulk_write_param.xel[1].length = 4;
+  bulk_write_param.id_count = 2;
+
+  // fill the members of structure for bulkRead
+  bulk_read_param.xel[0].id = 1;
+  bulk_read_param.xel[1].id = 2;
+  bulk_read_param.xel[0].addr = 132; //Present Position on X serise
+  bulk_read_param.xel[1].addr = 128; //Present Velocity on X serise
+  bulk_read_param.xel[0].length = 4;
+  bulk_read_param.xel[1].length = 4;  
+  bulk_read_param.id_count = 2;
+
+  dxl.torqueOff(1);
+  dxl.setOperatingMode(1, OP_POSITION);
+  dxl.torqueOn(1);
+
+  dxl.torqueOff(3);
+  dxl.setOperatingMode(3, OP_VELOCITY);
+  dxl.torqueOn(3);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  static int32_t position = 0, velocity = 0;
+  int32_t recv_position = 0, recv_velocity = 0;
+
+  // set value to data buffer for bulkWrite
+  position = position >= 4095 ? 0 : position+409;
+  memcpy(bulk_write_param.xel[0].data, &position, sizeof(position));
+  velocity = velocity >= 200 ? -200 : velocity+10;
+  memcpy(bulk_write_param.xel[1].data, &velocity, sizeof(velocity));
+
+  // send command using bulkWrite
+  dxl.bulkWrite(bulk_write_param);
+  delay(100);
+
+  // Print the read data using bulkRead
+  dxl.bulkRead(bulk_read_param, read_result);
+  DEBUG_SERIAL.println(F("======= Bulk Read ========"));
+  memcpy(&recv_position, read_result.xel[0].data, read_result.xel[0].length);
+  memcpy(&recv_velocity, read_result.xel[1].data, read_result.xel[1].length);
+  DEBUG_SERIAL.print(F("ID: "));DEBUG_SERIAL.print(read_result.xel[0].id);DEBUG_SERIAL.print(" ");
+  DEBUG_SERIAL.print(F(", Present Position: "));DEBUG_SERIAL.print(recv_position);DEBUG_SERIAL.print(" ");
+  DEBUG_SERIAL.print(F(", Packet Error: "));DEBUG_SERIAL.print(read_result.xel[0].error);DEBUG_SERIAL.print(" ");
+  DEBUG_SERIAL.print(F(", Param Length: "));DEBUG_SERIAL.print(read_result.xel[0].length);DEBUG_SERIAL.print(" ");
+  DEBUG_SERIAL.println();
+  DEBUG_SERIAL.print(F("ID: "));DEBUG_SERIAL.print(read_result.xel[1].id);DEBUG_SERIAL.print(" ");
+  DEBUG_SERIAL.print(F(", Present Velocity: "));DEBUG_SERIAL.print(recv_velocity);DEBUG_SERIAL.print(" ");
+  DEBUG_SERIAL.print(F(", Packet Error: "));DEBUG_SERIAL.print(read_result.xel[1].error);DEBUG_SERIAL.print(" ");
+  DEBUG_SERIAL.print(F(", Param Length: "));DEBUG_SERIAL.print(read_result.xel[1].length);DEBUG_SERIAL.print(" ");
+  DEBUG_SERIAL.println();
+  DEBUG_SERIAL.println();
+  delay(100);
+}
+
+

examples/advanced/sync_bulk_raw/sync_bulk_raw.ino → examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino

@@ -14,15 +14,38 @@
 * limitations under the License.
 *******************************************************************************/
 
+/*
+  This is an example deprecated. (Not recommended, just an example for legacy)
+*/
+
 #include <Dynamixel2Arduino.h>
 
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#else
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
@@ -124,7 +147,7 @@ void setup() {
   sync_write_param.addr = 64; //Torque Enable on X serise
   sync_write_param.length = 1;
   sync_write_param.xel[0].id = 1;
-  sync_write_param.xel[1].id = 3;
+  sync_write_param.xel[1].id = 2;
   sync_write_param.xel[0].data[0] = 0;
   sync_write_param.xel[1].data[0] = 0;
   sync_write_param.id_count = 2;
@@ -133,12 +156,12 @@ void setup() {
   sync_read_param.addr = 126; //Present Current on X serise
   sync_read_param.length = 2;
   sync_read_param.xel[0].id = 1;
-  sync_read_param.xel[1].id = 3;
+  sync_read_param.xel[1].id = 2;
   sync_read_param.id_count = 2;
 
   // fill the members of structure for bulkWrite
   bulk_write_param.xel[0].id = 1;
-  bulk_write_param.xel[1].id = 3;
+  bulk_write_param.xel[1].id = 2;
   bulk_write_param.xel[0].addr = 116; //Goal Position on X serise
   bulk_write_param.xel[1].addr = 104; //Goal Velocity on X serise
   bulk_write_param.xel[0].length = 4;
@@ -147,7 +170,7 @@ void setup() {
 
   // fill the members of structure for bulkRead
   bulk_read_param.xel[0].id = 1;
-  bulk_read_param.xel[1].id = 3;
+  bulk_read_param.xel[1].id = 2;
   bulk_read_param.xel[0].addr = 132; //Present Position on X serise
   bulk_read_param.xel[1].addr = 128; //Present Velocity on X serise
   bulk_read_param.xel[0].length = 4;