From 928de9ba4af9856d1e7af1c1c77954460778114d Mon Sep 17 00:00:00 2001 From: Will Son Date: Mon, 18 Oct 2021 13:12:41 +0900 Subject: [PATCH 1/2] fix xl/xc430 velocity bug Signed-off-by: Will Son --- src/Dynamixel2Arduino.cpp | 11 +++++++++-- 1 file changed, 9 insertions(+), 2 deletions(-) diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp index a5444cd..7ce2e71 100644 --- a/src/Dynamixel2Arduino.cpp +++ b/src/Dynamixel2Arduino.cpp @@ -1162,6 +1162,14 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_xl330_M288_M077[] PROGMEM {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0} }; +const ModelDependencyFuncItemAndRangeInfo_t dependency_xl430_xc430[] PROGMEM = { +#if (ENABLE_ACTUATOR_MX28_PROTOCOL2 || ENABLE_ACTUATOR_XL430 || ENABLE_ACTUATOR_XC430) + {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -1023, 1023, 0.229}, + {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -1023, 1023, 0.229}, +#endif + {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0} +}; + const ModelDependencyFuncItemAndRangeInfo_t dependency_xc330_m181_m288[] PROGMEM = { #if (ENABLE_ACTUATOR_XC330) {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -2352, 2352, 1}, @@ -1495,6 +1503,7 @@ static ItemAndRangeInfo_t getModelDependencyFuncInfo(uint16_t model_num, uint8_t case XL430_W250: case XXL430_W250: p_common_ctable = dependency_ctable_2_0_common; + p_dep_ctable = dependency_xl430_xc430; break; case MX64_2: @@ -1752,5 +1761,3 @@ static float f_map(float x, float in_min, float in_max, float out_min, float out { return (x - in_min) * (out_max - out_min) / (in_max - in_min) + out_min; } - - From f50ebe415263fbbf60f70c456f19bbfe293f2624 Mon Sep 17 00:00:00 2001 From: "david.park" Date: Mon, 18 Oct 2021 18:34:55 +0900 Subject: [PATCH 2/2] Release: Hotfix --- library.properties | 2 +- 1 file changed, 1 insertion(+), 1 deletion(-) diff --git a/library.properties b/library.properties index fca133a..09fbe19 100644 --- a/library.properties +++ b/library.properties @@ -1,5 +1,5 @@ name=Dynamixel2Arduino -version=0.5.0 +version=0.5.1 author=ROBOTIS license=Apache-2.0 maintainer=Will Son(willson@robotis.com)