Fix examples

Author: honghyun79

examples/advanced/operating_mode_advanced/operating_mode_advanced.ino

@@ -54,6 +54,7 @@
 
 
 const uint8_t DXL_ID = 1;
+static uint8_t op_mode = OP_POSITION;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
 
@@ -72,16 +73,15 @@ void loop() {
   static uint32_t pre_time_write, pre_time_read, pre_time_op_mode, pre_time_led;
   static float value = 0;
   static bool led_state, flag_op_changed = true;
-  static uint8_t op_mode = OP_POSITION;
-
+  
   switch(op_mode)
   {
     case OP_POSITION:
       if(flag_op_changed){
         value = 0;
         dxl.torqueOff(DXL_ID);
         if(dxl.setOperatingMode(DXL_ID, op_mode) == false){
-          op_mode++;
+          nextOperatingMode();
           break;
         }
         dxl.torqueOn(DXL_ID);
@@ -105,7 +105,7 @@ void loop() {
         value = 0;
         dxl.torqueOff(DXL_ID);
         if(dxl.setOperatingMode(DXL_ID, op_mode) == false){
-          op_mode++;
+          nextOperatingMode();
           break;
         }
         dxl.torqueOn(DXL_ID);
@@ -129,7 +129,7 @@ void loop() {
         value = 0;
         dxl.torqueOff(DXL_ID);
         if(dxl.setOperatingMode(DXL_ID, op_mode) == false){
-          op_mode++;
+          nextOperatingMode();
           break;
         }
         dxl.torqueOn(DXL_ID);
@@ -153,7 +153,7 @@ void loop() {
         value = 0;
         dxl.torqueOff(DXL_ID);
         if(dxl.setOperatingMode(DXL_ID, op_mode) == false){
-          op_mode++;
+          nextOperatingMode();
           break;
         }
         dxl.torqueOn(DXL_ID);
@@ -177,7 +177,7 @@ void loop() {
         value = 0;
         dxl.torqueOff(DXL_ID);
         if(dxl.setOperatingMode(DXL_ID, op_mode) == false){
-          op_mode++;
+          nextOperatingMode();
           break;
         }
         dxl.torqueOn(DXL_ID);
@@ -201,7 +201,7 @@ void loop() {
         value = 0;
         dxl.torqueOff(DXL_ID);
         if(dxl.setOperatingMode(DXL_ID, op_mode) == false){
-          op_mode++;
+          nextOperatingMode();
           break;
         }
         dxl.torqueOn(DXL_ID);
@@ -227,7 +227,7 @@ void loop() {
 
   if(millis() - pre_time_op_mode >= (uint32_t)60*1000){
     pre_time_op_mode = millis();
-    op_mode++;
+    nextOperatingMode();
     flag_op_changed = true;
   }
 
@@ -236,4 +236,29 @@ void loop() {
     led_state == true ? dxl.ledOn(DXL_ID) : dxl.ledOff(DXL_ID);
     led_state = !led_state;
   }
+}
+
+void nextOperatingMode() {
+  switch (op_mode) {
+    case OP_CURRENT:
+      op_mode = OP_VELOCITY;
+      break;
+    case OP_VELOCITY:
+      op_mode = OP_POSITION;
+      break;
+    case OP_POSITION:
+      op_mode = OP_EXTENDED_POSITION;
+      break;
+    case OP_EXTENDED_POSITION:
+      op_mode = OP_CURRENT_BASED_POSITION;
+      break;
+    case OP_CURRENT_BASED_POSITION:
+      op_mode = OP_PWM;
+      break;
+    case OP_PWM:
+      op_mode = OP_CURRENT;
+      break;
+    default:
+      op_mode = OP_POSITION;
+  }
 }

examples/basic/baudrate/baudrate.ino

@@ -68,6 +68,7 @@ void setup() {
 
   // Use UART port of DYNAMIXEL Shield to debug.
   DEBUG_SERIAL.begin(115200);
+  while(!DEBUG_SERIAL);
 
   // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
   dxl.begin(BAUDRATE);

examples/basic/copy_eeprom_x/copy_eeprom_x.ino

@@ -211,11 +211,11 @@ void safetyCheck(uint8_t id_a, uint8_t id_b)
       DEBUG_SERIAL.print(F("ID "));
       DEBUG_SERIAL.print(id_a);
       DEBUG_SERIAL.print(F(" firmware version : "));
-      DEBUG_SERIAL.println(modelNumberA);
+      DEBUG_SERIAL.println(fwVersionA);
       DEBUG_SERIAL.print(F("ID "));
       DEBUG_SERIAL.print(id_b);
       DEBUG_SERIAL.print(F(" firmware version : "));
-      DEBUG_SERIAL.println(modelNumberB);
+      DEBUG_SERIAL.println(fwVersionB);
     }
     // Compare EEPROM Data
     else