Merge branch 'master' of github.com:ROBOTIS-GIT/OpenCR

ROBOTIS-GIT · Jun 17, 2022 · 3a12524 · 3a12524
2 parents bad3165 + 0f0e978
commit 3a12524
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Showing 3 changed files with 37 additions and 4 deletions.
diff --git a/arduino/opencr_arduino/opencr/libraries/OLLO/OLLO.cpp b/arduino/opencr_arduino/opencr/libraries/OLLO/OLLO.cpp
@@ -254,7 +254,7 @@ int OLLO::read(int devNum, OlloDeviceIndex device_index){ // IR SENSOR, Button,
  return average_value;
  }else if(device_index == TEMPERATURE_SENSOR){
  analogValue = analogRead(PORT1_ADC);
- vvalue = (4095 - analogValue) * 10000 /analogValue;
+ vvalue = (1023 - analogValue) * 10000 /analogValue;
  for(scount = -20; scount < 140; scount++){
  if(vvalue > gwTheRmistor[scount +20]){
  return scount;
@@ -291,7 +291,7 @@ int OLLO::read(int devNum, OlloDeviceIndex device_index){ // IR SENSOR, Button,
  }
  else if(device_index == TEMPERATURE_SENSOR){
  analogValue = analogRead(PORT2_ADC);
- vvalue = (4095 - analogValue) * 10000 /analogValue;
+ vvalue = (1023 - analogValue) * 10000 /analogValue;
  for(scount = -20; scount < 140; scount++){
  if(vvalue > gwTheRmistor[scount +20]){
  return scount;
@@ -323,7 +323,7 @@ int OLLO::read(int devNum, OlloDeviceIndex device_index){ // IR SENSOR, Button,
  return average_value;
  }else if(device_index == TEMPERATURE_SENSOR){
  analogValue = analogRead(PORT3_ADC);
- vvalue = (4095 - analogValue) * 10000 /analogValue;
+ vvalue = (1023 - analogValue) * 10000 /analogValue;
  for(scount = -20; scount < 140; scount++){
  if(vvalue > gwTheRmistor[scount +20]){
  return scount;
@@ -356,7 +356,7 @@ int OLLO::read(int devNum, OlloDeviceIndex device_index){ // IR SENSOR, Button,
  return average_value;
  }else if(device_index == TEMPERATURE_SENSOR){
  analogValue = analogRead(PORT4_ADC);// 2014-04-17 shin
- vvalue = (4095 - analogValue) * 10000 /analogValue;
+ vvalue = (1023 - analogValue) * 10000 /analogValue;
  for(scount = -20; scount < 140; scount++){
  if(vvalue > gwTheRmistor[scount +20]){
  return scount;

diff --git a/...encr_arduino/opencr/libraries/OpenCR/examples/05. Sensors/OLLO_TPS_READ/OLLO_TPS_READ.ino b/...encr_arduino/opencr/libraries/OpenCR/examples/05. Sensors/OLLO_TPS_READ/OLLO_TPS_READ.ino
@@ -0,0 +1,30 @@
+/* OLLO TPS Sensor Read
+ 
+ connect Temperature Sensor to OLLO ports 
+
+ Compatibility
+ CM900 X
+ OpenCM9.04 O
+ 
+ created 16 Nov 2012
+ by ROBOTIS CO,.LTD.
+ */
+
+#include <OLLO.h>
+OLLO myOLLO;
+
+#define YOUR_OLLO_PORT 3
+
+void setup(){
+ myOLLO.begin(YOUR_OLLO_PORT);// A Module needs to be connected to proper port (PORT 1 to 4)
+}
+void loop(){
+ Serial.print("RAW Temperature = ");
+ Serial.print(myOLLO.read(YOUR_OLLO_PORT)); //read ADC value from YOUR_OLLO-PORT
+ Serial.print("\t Converted Temperature = ");
+ Serial.println(myOLLO.read(YOUR_OLLO_PORT, TEMPERATURE_SENSOR)); //read ADC value from YOUR_OLLO-PORT
+ delay(100);
+}
+
+
+
diff --git a/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3.cpp b/arduino/opencr_arduino/opencr/libraries/turtlebot3_ros2/src/turtlebot3/turtlebot3.cpp
@@ -245,6 +245,9 @@ void TurtleBot3Core::begin(const char* model_name)
  ret = controllers.init(max_linear_velocity, max_angular_velocity);
  DEBUG_PRINTLN(ret==true?"RC100 Controller setup completed.":"RC100 Controller setup failed.");
 
+
+ // Port begin
+ dxl_slave.begin();
  // Init DXL Slave function
  dxl_slave.setPortProtocolVersion(PROTOCOL_VERSION_DXL_SLAVE);
  dxl_slave.setFirmwareVersion(FIRMWARE_VER);