Merge pull request #57 from ROBOTIS-GIT/develop

prepare to release

Author: ROBOTIS-Will

README.md

@@ -1,13 +1,14 @@
 # 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.
+ - The examples defines GPIO pins based on the use with DYNAMIXEL Shields.
+ - When running DYNAMIXEL without DYNAMIXEL Shields on OpenCM9.04, OpenCR or custom boards, you might need to change the Serial and DYNAMIXEL 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||
+    |OpenCM485EXP|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))|
 
 

examples/basic/position_mode/position_mode.ino

@@ -61,6 +61,7 @@ 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(57600);
@@ -73,6 +74,9 @@ void setup() {
   dxl.torqueOff(DXL_ID);
   dxl.setOperatingMode(DXL_ID, OP_POSITION);
   dxl.torqueOn(DXL_ID);
+
+  // Limit the maximum velocity in Position Control Mode. Use 0 for Max speed
+  dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 30);
 }
 
 void loop() {
@@ -81,17 +85,28 @@ void loop() {
   // Please refer to e-Manual(http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/) for available range of value. 
   // Set Goal Position in RAW value
   dxl.setGoalPosition(DXL_ID, 512);
-  delay(1000);
-  // Print present position in raw value
-  DEBUG_SERIAL.print("Present Position(raw) : ");
-  DEBUG_SERIAL.println(dxl.getPresentPosition(DXL_ID));
-  delay(1000);
+
+  int i_present_position = 0;
+  float f_present_position = 0.0;
+
+  while (abs(512 - i_present_position) > 10)
+  {
+    f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
+    i_present_position = dxl.getPresentPosition(DXL_ID);
+    DEBUG_SERIAL.print("Present_Position(raw) : ");
+    DEBUG_SERIAL.println(i_present_position);
+  }
+  delay(500);
 
   // Set Goal Position in DEGREE value
   dxl.setGoalPosition(DXL_ID, 5.7, UNIT_DEGREE);
-  delay(1000);
-  // Print present position in degree value
-  DEBUG_SERIAL.print("Present Position(degree) : ");
-  DEBUG_SERIAL.println(dxl.getPresentPosition(DXL_ID, UNIT_DEGREE));
-  delay(1000);
+  
+  while (abs(5.7 - f_present_position) > 2.0)
+  {
+    f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
+    i_present_position = dxl.getPresentPosition(DXL_ID);
+    DEBUG_SERIAL.print("Present_Position(raw) : ");
+    DEBUG_SERIAL.println(i_present_position);
+  }
+  delay(500);
 }

library.properties

@@ -1,5 +1,5 @@
 name=Dynamixel2Arduino
-version=0.4.5
+version=0.4.6
 author=ROBOTIS
 license=Apache-2.0
 maintainer=Will Son([email protected])

src/dxl_c/protocol.c

@@ -2,7 +2,7 @@
 
 #if defined(ARDUINO)
   #include <Arduino.h>
-  #if !defined(ESP_PLATFORM) && !defined(ARDUINO_ARCH_MBED) 
+  #if !defined(ESP_PLATFORM) && !defined(ARDUINO_ARCH_MBED) && !defined(ARDUINO_ARCH_SAMD)
     #include <avr/pgmspace.h>
   #endif
 #endif

src/utility/config.h

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

src/utility/port_handler.cpp

@@ -40,7 +40,7 @@ void SerialPortHandler::begin(unsigned long baud)
     pinMode(BDPIN_DXL_PWR_EN, OUTPUT);
     digitalWrite(BDPIN_DXL_PWR_EN, HIGH);
   }
-  delay(200); // Wait for the DYNAMIXEL to power up normally.
+  delay(300); // Wait for the DYNAMIXEL to power up normally.
 #endif
 
   baud_ = baud;