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Fix for Arduino Uno R4 build error #144

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Fix for Arduino Uno R4 build error #144

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88ee229
Fix for Arduino Uno R4 build error
jonghee-son Feb 25, 2025
022a601
Fix for STM32 based arduino build error
jonghee-son Feb 25, 2025
fd01361
Fixed build error on ARM Cortex-M based Arduino boards.
jonghee-son Mar 18, 2025
a5782fd
Fixed naming inconsistency between LED and DXL_LED_* items
jonghee-son Mar 18, 2025
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8 changes: 4 additions & 4 deletions src/Dynamixel2Arduino.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -610,14 +610,14 @@ bool Dynamixel2Arduino::setLedState(uint8_t id, bool state)
case PRO_M54P_040_S250_R:
case PRO_M54P_060_S250_R:
if (state == false) {
writeControlTableItem(ControlTableItem::LED_GREEN, id, state);
writeControlTableItem(ControlTableItem::LED_BLUE, id, state);
writeControlTableItem(ControlTableItem::DXL_LED_GREEN, id, state);
writeControlTableItem(ControlTableItem::DXL_LED_BLUE, id, state);
}
ret = writeControlTableItem(ControlTableItem::LED_RED, id, state);
ret = writeControlTableItem(ControlTableItem::DXL_LED_RED, id, state);
break;

default:
ret = writeControlTableItem(ControlTableItem::LED, id, state);
ret = writeControlTableItem(ControlTableItem::DXL_LED, id, state);
break;
}

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22 changes: 11 additions & 11 deletions src/actuator.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -33,7 +33,7 @@ const ModelControlTableInfo_t control_table_1_0[] PROGMEM = {
{ControlTableItem::SHUTDOWN, 18, 1},

{ControlTableItem::TORQUE_ENABLE, 24, 1},
{ControlTableItem::LED, 25, 1},
{ControlTableItem::DXL_LED, 25, 1},
{ControlTableItem::CW_COMPLIANCE_MARGIN, 26, 1},
{ControlTableItem::CCW_COMPLIANCE_MARGIN, 27, 1},
{ControlTableItem::CW_COMPLIANCE_SLOPE, 28, 1},
Expand Down Expand Up @@ -85,7 +85,7 @@ const ModelControlTableInfo_t control_table_1_1[] PROGMEM = {
{ControlTableItem::RESOLUTION_DIVIDER, 22, 1},

{ControlTableItem::TORQUE_ENABLE, 24, 1},
{ControlTableItem::LED, 25, 1},
{ControlTableItem::DXL_LED, 25, 1},
{ControlTableItem::D_GAIN, 26, 1},
{ControlTableItem::I_GAIN, 27, 1},
{ControlTableItem::P_GAIN, 28, 1},
Expand Down Expand Up @@ -144,7 +144,7 @@ const ModelControlTableInfo_t xl320_control_table[] PROGMEM = {
{ControlTableItem::SHUTDOWN, 18, 1},

{ControlTableItem::TORQUE_ENABLE, 24, 1},
{ControlTableItem::LED, 25, 1},
{ControlTableItem::DXL_LED, 25, 1},
{ControlTableItem::D_GAIN, 27, 1},
{ControlTableItem::I_GAIN, 28, 1},
{ControlTableItem::P_GAIN, 29, 1},
Expand Down Expand Up @@ -197,7 +197,7 @@ const ModelControlTableInfo_t control_table_2_0[] PROGMEM = {
{ControlTableItem::SHUTDOWN, 63, 1},

{ControlTableItem::TORQUE_ENABLE, 64, 1},
{ControlTableItem::LED, 65, 1},
{ControlTableItem::DXL_LED, 65, 1},
{ControlTableItem::STATUS_RETURN_LEVEL, 68, 1},
{ControlTableItem::REGISTERED_INSTRUCTION, 69, 1},
{ControlTableItem::HARDWARE_ERROR_STATUS, 70, 1},
Expand Down Expand Up @@ -319,9 +319,9 @@ const ModelControlTableInfo_t pro_r_control_table[] PROGMEM = {
{ControlTableItem::SHUTDOWN, 48, 1},

{ControlTableItem::TORQUE_ENABLE, 562, 1},
{ControlTableItem::LED_RED, 563, 1},
{ControlTableItem::LED_GREEN, 564, 1},
{ControlTableItem::LED_BLUE, 565, 1},
{ControlTableItem::DXL_LED_RED, 563, 1},
{ControlTableItem::DXL_LED_GREEN, 564, 1},
{ControlTableItem::DXL_LED_BLUE, 565, 1},
{ControlTableItem::VELOCITY_I_GAIN, 586, 2},
{ControlTableItem::VELOCITY_P_GAIN, 588, 2},
{ControlTableItem::POSITION_P_GAIN, 594, 2},
Expand Down Expand Up @@ -377,9 +377,9 @@ const ModelControlTableInfo_t pro_ra_pro_plus_control_table[] PROGMEM = {
{ControlTableItem::SHUTDOWN, 63, 1},

{ControlTableItem::TORQUE_ENABLE, 512, 1},
{ControlTableItem::LED_RED, 513, 1},
{ControlTableItem::LED_GREEN, 514, 1},
{ControlTableItem::LED_BLUE, 515, 1},
{ControlTableItem::DXL_LED_RED, 513, 1},
{ControlTableItem::DXL_LED_GREEN, 514, 1},
{ControlTableItem::DXL_LED_BLUE, 515, 1},
{ControlTableItem::STATUS_RETURN_LEVEL, 516, 1},
{ControlTableItem::REGISTERED_INSTRUCTION, 517, 1},
{ControlTableItem::HARDWARE_ERROR_STATUS, 518, 1},
Expand Down Expand Up @@ -475,7 +475,7 @@ const ModelControlTableInfo_t y_control_table[] PROGMEM = {
{ControlTableItem::PROFILE_ACCELERATION_TIME, 248, 4},
{ControlTableItem::PROFIIE_TIME, 252, 4},
{ControlTableItem::TORQUE_ENABLE, 512, 1},
{ControlTableItem::LED, 513, 1},
{ControlTableItem::DXL_LED, 513, 1},
{ControlTableItem::PWM_OFFSET, 516, 2},
{ControlTableItem::CURRENT_OFFSET, 518, 2},
{ControlTableItem::VELOCITY_OFFSET, 520, 4},
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8 changes: 4 additions & 4 deletions src/actuator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -331,10 +331,10 @@ namespace ControlTableItem{
SHUTDOWN,

TORQUE_ENABLE,
LED,
LED_RED,
LED_GREEN,
LED_BLUE,
DXL_LED,
DXL_LED_RED,
DXL_LED_GREEN,
DXL_LED_BLUE,
REGISTERED_INSTRUCTION,
HARDWARE_ERROR_STATUS,
VELOCITY_P_GAIN,
Expand Down