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Issue #115 - allow override of hard-coded delay #116

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Issue #115 - allow override of hard-coded delay #116

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37917e5
Issue #115 - allow override of hard-coded delay
Nov 30, 2022
4caefbc
Merge branch 'develop' into issue115
johnauld Aug 8, 2023
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4 changes: 2 additions & 2 deletions src/Dynamixel2Arduino.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -128,7 +128,7 @@ Dynamixel2Arduino::Dynamixel2Arduino(HardwareSerial& port, int dir_pin, uint16_t
}

/* For Master configuration */
void Dynamixel2Arduino::begin(unsigned long baud)
void Dynamixel2Arduino::begin(unsigned long baud, uint32_t delay)
{
p_dxl_port_ = (SerialPortHandler*)getPort();

Expand All @@ -137,7 +137,7 @@ void Dynamixel2Arduino::begin(unsigned long baud)
return;
}

p_dxl_port_->begin(baud);
p_dxl_port_->begin(baud, delay);
}

unsigned long Dynamixel2Arduino::getPortBaud()
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3 changes: 2 additions & 1 deletion src/Dynamixel2Arduino.h
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Expand Up @@ -80,9 +80,10 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
* dxl.begin(57600);
* @endcode
* @param baud The port speed you want on the board (the speed to communicate with DYNAMIXEL) (default : 57600)
* @param delay Delay in milliseconds after opening to allow hardware to settle (default: 300)
* @return It returns true(1) on success, false(0) on failure.
*/
void begin(unsigned long baud = 57600);
void begin(unsigned long baud = 57600, uint32_t delay = 300);

/**
* @brief It is API for getting serial baudrate of board port.
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8 changes: 5 additions & 3 deletions src/utility/port_handler.cpp
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Expand Up @@ -29,7 +29,7 @@ void SerialPortHandler::begin()
begin(baud_);
}

void SerialPortHandler::begin(unsigned long baud)
void SerialPortHandler::begin(unsigned long baud, uint32_t delay)
{
#if defined(ARDUINO_OpenCM904)
if(port_ == Serial1 && getOpenState() == false){
Expand All @@ -39,14 +39,16 @@ void SerialPortHandler::begin(unsigned long baud)
if(port_ == Serial1 && getOpenState() == false){
pinMode(BDPIN_DXL_PWR_EN, OUTPUT);
digitalWrite(BDPIN_DXL_PWR_EN, HIGH);
delay(500); // Wait for the FET to turn on.
if (delay)
delay(delay); // Wait for the FET to turn on.
}
#elif defined(ARDUINO_OpenCR)
if(port_ == Serial3 && getOpenState() == false){
pinMode(BDPIN_DXL_PWR_EN, OUTPUT);
digitalWrite(BDPIN_DXL_PWR_EN, HIGH);
}
delay(500); // Wait for the DYNAMIXEL to power up normally.
if (delay)
delay(delay); // Wait for the DYNAMIXEL to power up normally.
#endif

baud_ = baud;
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4 changes: 2 additions & 2 deletions src/utility/port_handler.h
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Expand Up @@ -54,7 +54,7 @@ class SerialPortHandler : public DXLPortHandler
virtual size_t write(uint8_t) override;
virtual size_t write(uint8_t *buf, size_t len) override;

virtual void begin(unsigned long baud);
virtual void begin(unsigned long baud, uint32_t delay=300);
virtual unsigned long getBaud() const;

private:
Expand Down Expand Up @@ -101,4 +101,4 @@ class USBSerialPortHandler : public DXLPortHandler

}//namespace DYNAMIXEL

#endif /* DYNAMIXEL_PORT_HANDLER_HPP_ */
#endif /* DYNAMIXEL_PORT_HANDLER_HPP_ */