Merge pull request #60 from ROBOTIS-GIT/develop

Develop

Author: ROBOTIS-Will

.github/workflows/dynamixel2arduino_ci.yml

@@ -0,0 +1,23 @@
+name: dynamixel2arduino_ci
+
+on:
+  push:
+    branches: [ master, develop ]
+  pull_request:
+    branches: [ master, develop ]
+
+jobs:
+  dynamixel2arduino_ci:
+    runs-on: ubuntu-latest
+    strategy:
+      fail-fast: false
+    steps:
+      - uses: actions/checkout@v2
+      - name: Run Arduino CI Script
+        run: |
+          source <(curl -SLs https://raw.githubusercontent.com/ROBOTIS-GIT/Dynamixel2Arduino/master/install.sh) ${{github.ref}}
+          build_platform opencr
+          build_platform uno
+          build_platform mega2560
+          build_platform mkrzero
+          build_platform portenta

.travis.yml

@@ -49,6 +49,7 @@
 
 
 /* syncRead
+  DYNAMIXEL PROTOCOL 1.0 does NOT support Sync Read feature.
   Structures containing the necessary information to process the 'syncRead' packet.
 
   typedef struct XELInfoBulkRead{
@@ -68,6 +69,7 @@
 */
 
 /* syncWrite
+  DYNAMIXEL PROTOCOL 1.0 supports Control Table address up to 255.
   Structures containing the necessary information to process the 'syncWrite' packet.
 
   typedef struct XELInfoBulkWrite{
@@ -85,6 +87,8 @@
   } __attribute__((packed)) InfoBulkWriteInst_t;
 */
 
+const uint8_t BROADCAST_ID = 254;
+const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const uint8_t DXL_ID_CNT = 2;
 const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {1, 2};
 const uint16_t user_pkt_buf_cap = 128;
@@ -123,12 +127,13 @@ void setup() {
   pinMode(LED_BUILTIN, OUTPUT);
   DEBUG_SERIAL.begin(115200);
   dxl.begin(57600);
+  dxl.setPortProtocolVersion(DYNAMIXEL_PROTOCOL_VERSION);
 
   for(i=0; i<DXL_ID_CNT; i++){
     dxl.torqueOff(DXL_ID_LIST[i]);
     dxl.setOperatingMode(DXL_ID_LIST[i], OP_VELOCITY);
-    dxl.torqueOn(DXL_ID_LIST[i]);
   }
+  dxl.torqueOn(BROADCAST_ID);
 
   // Fill the members of structure to syncRead using external user packet buffer
   sr_infos.packet.p_buf = user_pkt_buf;
@@ -170,8 +175,8 @@ void loop() {
   static uint32_t try_count = 0;
   uint8_t i, recv_cnt;
 
-  for(i=0; i<DXL_ID_CNT; i++){
-    sw_data[i].goal_velocity+=5;
+  for(i = 0; i < DXL_ID_CNT; i++){
+    sw_data[i].goal_velocity = 5 + sw_data[i].goal_velocity;
     if(sw_data[i].goal_velocity >= 200){
       sw_data[i].goal_velocity = 0;
     }
@@ -214,7 +219,3 @@ void loop() {
   digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
   delay(750);
 }
-
-
-
-

examples/advanced/sync_read_write_raw/sync_read_write_raw.ino

@@ -10,7 +10,7 @@ fi
 # this will be eval'd in the functions below because arrays can't be exported
 # For creating a new main platform, please refer to https://arduino.github.io/arduino-cli/latest/platform-specification/#hardware-folders-structure
 # and https://arduino.github.io/arduino-cli/latest/platform-specification/#boardstxt
-export MAIN_PLATFORMS='declare -A main_platforms=([uno]="arduino:avr:uno" [mega2560]="arduino:avr:mega:cpu=atmega2560" [leonardo]="arduino:avr:leonardo" [due]="arduino:sam:arduino_due_x" [zero]="arduino:samd:arduino_zero_native" [mzero]="arduino:samd:mzero_bl" [mzeropro]="arduino:samd:mzero_pro_bl" [mkrzero]="arduino:samd:mkrzero" [mkr1000]="arduino:samd:mkr1000" [mkrwifi1010]="arduino:samd:mkrwifi1010" [opencr]="OpenCR:OpenCR:OpenCR" [portenta]="arduino:mbed:envie_m7")'
+export MAIN_PLATFORMS='declare -A main_platforms=([uno]="arduino:avr:uno" [mega2560]="arduino:avr:mega:cpu=atmega2560" [leonardo]="arduino:avr:leonardo" [due]="arduino:sam:arduino_due_x" [zero]="arduino:samd:arduino_zero_native" [mzero]="arduino:samd:mzero_bl" [mzeropro]="arduino:samd:mzero_pro_bl" [mkrzero]="arduino:samd:mkrzero" [mkr1000]="arduino:samd:mkr1000" [mkrwifi1010]="arduino:samd:mkrwifi1010" [opencr]="OpenCR:OpenCR:OpenCR" [portenta]="arduino:mbed_portenta:envie_m7")'
 
 # make display available for arduino CLI
 /sbin/start-stop-daemon --start --quiet --pidfile /tmp/custom_xvfb_1.pid --make-pidfile --background --exec /usr/bin/Xvfb -- :1 -ac -screen 0 1280x1024x16
@@ -55,7 +55,7 @@ DEPENDENCY_OUTPUT=$(arduino --install-boards arduino:samd 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
 echo -n "INSTALL Portenta H7: "
-DEPENDENCY_OUTPUT=$(arduino --install-boards arduino:mbed 2>&1)
+DEPENDENCY_OUTPUT=$(arduino --install-boards arduino:mbed_portenta 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
 echo -n "INSTALL OpenCR: "

install.sh

@@ -1,5 +1,5 @@
 name=Dynamixel2Arduino
-version=0.4.6
+version=0.4.7
 author=ROBOTIS
 license=Apache-2.0
 maintainer=Will Son(willson@robotis.com)

library.properties

@@ -1,10 +1,7 @@
 #include "protocol.h"
 
-#if defined(ARDUINO)
-  #include <Arduino.h>
-  #if !defined(ESP_PLATFORM) && !defined(ARDUINO_ARCH_MBED) && !defined(ARDUINO_ARCH_SAMD)
-    #include <avr/pgmspace.h>
-  #endif
+#if !defined(ESP_PLATFORM) && !defined(ARDUINO_ARCH_MBED_PORTENTA) && !defined(ARDUINO_ARCH_SAMD)
+  #include <avr/pgmspace.h>
 #endif
 
 #if !defined(PROGMEM)

src/dxl_c/protocol.c

@@ -17,6 +17,7 @@
 #define DYNAMIXEL_PROTOCOL_H_
 
 #include <stdint.h>
+#include <stddef.h>
 #include <stdbool.h>
 
 #define DXL_BROADCAST_ID        0xFE

src/dxl_c/protocol.h

@@ -83,7 +83,7 @@
 
 #if defined(ARDUINO)
   #include <Arduino.h>
-  #if !defined(ESP_PLATFORM) && !defined(ARDUINO_ARCH_MBED) && !defined(ARDUINO_ARCH_SAMD)
+  #if !defined(ESP_PLATFORM) && !defined(ARDUINO_ARCH_MBED_PORTENTA) && !defined(ARDUINO_ARCH_SAMD)
     #include <avr/pgmspace.h>
   #endif
 #endif