Merge pull request #110 from ROBOTIS-GIT/foxy-devel

ROBOTIS-Will · web-flow · commit 46a9d3cc1529 · 2022-10-04T17:01:51.000+09:00
Foxy devel
diff --git a/src/utility/master.cpp b/src/utility/master.cpp
@@ -175,6 +175,7 @@ Master::ping(uint8_t id, uint8_t *p_recv_id_array, uint8_t recv_array_capacity,
         }
       }
     }else{
+      timeout_ms = 3*253;
       pre_time_ms = millis();
       while(ret_id_cnt < recv_array_capacity)
       {
@@ -219,6 +220,7 @@ Master::ping(uint8_t id, InfoFromPing_t *recv_ping_info_array, uint8_t recv_arra
         }
       }
     }else{
+      timeout_ms = 3*253;
       pre_time_ms = millis();
       while(ret_id_cnt < recv_array_cnt)
       {
diff --git a/src/utility/slave.h b/src/utility/slave.h
@@ -21,7 +21,11 @@
 #include "port_handler.h"
 #include "config.h"
 
+#ifdef __OPENCR__
+#define CONTROL_ITEM_MAX         128
+#else
 #define CONTROL_ITEM_MAX         64
+#endif
 #define CONTROL_ITEM_ADDR_LIMIT (DEFAULT_DXL_BUF_LENGTH-11)
 
 

Original file line number	Diff line number	Diff line change
`@@ -175,6 +175,7 @@ Master::ping(uint8_t id, uint8_t *p_recv_id_array, uint8_t recv_array_capacity,`
`175`	`175`	`}`
`176`	`176`	`}`
`177`	`177`	`}else{`
	`178`	`+ timeout_ms = 3*253;`
`178`	`179`	`pre_time_ms = millis();`
`179`	`180`	`while(ret_id_cnt < recv_array_capacity)`
`180`	`181`	`{`
`@@ -219,6 +220,7 @@ Master::ping(uint8_t id, InfoFromPing_t *recv_ping_info_array, uint8_t recv_arra`
`219`	`220`	`}`
`220`	`221`	`}`
`221`	`222`	`}else{`
	`223`	`+ timeout_ms = 3*253;`
`222`	`224`	`pre_time_ms = millis();`
`223`	`225`	`while(ret_id_cnt < recv_array_cnt)`
`224`	`226`	`{`