Merge pull request #277 from ROBOTIS-GIT/develop

release 1.4.18

.github/workflows/arduino_ci.yml

@@ -0,0 +1,19 @@
+name: Arduino_CI
+
+on:
+ push:
+ branches: [ master, develop ]
+ pull_request:
+ branches: [ master, develop ]
+
+jobs:
+ arduino_ci:
+ runs-on: ubuntu-latest
+ strategy:
+ fail-fast: false
+ steps:
+ - uses: actions/checkout@v2
+ - name: install script
+ run: |
+ source <(curl -SLs https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/install.sh) ${{github.ref}}
+ build_platform opencr

arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/include/dynamixel_workbench_toolbox/dynamixel_item.h

@@ -42,9 +42,12 @@
 #define MX_106_2 321
 
 #define XL_320 350
+#define XL330_M077 1190
+#define XL330_M288 1200
 #define XL430_W250 1060
 
 #define XL430_W250_2 1090 // 2XL
+#define XC430_W250_2 1160 // 2XC
 
 #define XC430_W150 1070
 #define XC430_W240 1080
@@ -65,6 +68,9 @@
 #define XH540_V150 1150
 #define XH540_V270 1140
 
+#define XW540_T140 1180
+#define XW540_T260 1170
+
 #define PRO_L42_10_S300_R 35072
 #define PRO_L54_30_S400_R 37928
 #define PRO_L54_30_S500_R 37896

arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_item.cpp

@@ -533,7 +533,7 @@ static const ModelInfo info_XL320 = {0.11,
  2.61799};
 
 //---------------------------------------------------------
-// XL - (num == XL430_W250, XL430_W250_2, XC430_W150, XC430_W240)
+// XL - (num == XL430_W250, XL430_W250_2, XC430_W150, XC430_W240, XC430_W250_2)
 //---------------------------------------------------------
 static const ControlItem items_XL[]{
  {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2},
@@ -597,7 +597,7 @@ static const ModelInfo info_XL = {0.229,
  3.14159265};
 
 //---------------------------------------------------------
-// XM - (num == XM430_W210 || num == XM430_W350)
+// XM - (num == XM430_W210 || num == XM430_W350) || num == XL330_M077 || num == XL330_M288)
 //---------------------------------------------------------
 static const ControlItem items_XM[]{
  {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2},
@@ -732,7 +732,7 @@ static const ModelInfo info_EXTXM = {0.229,
  3.14159265};
 
 //---------------------------------------------------------
-// XH - (num == XH430_V210 || num == XH430_V350 || num == XH430_W210 || num == XH430_W350)
+// XH - (num == XH430_V210 || num == XH430_V350 || num == XH430_W210 || num == XH430_W350 || num == XW540_T140 || num == XW540_T260)
 //---------------------------------------------------------
 static const ControlItem items_XH[]{
  {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2},
@@ -1301,12 +1301,12 @@ const ControlItem *DynamixelItem::getControlTable(uint16_t model_number)
  control_table = items_XL320;
  the_number_of_item = COUNT_XL320_ITEMS;
  }
- else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240)
+ else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240 || num == XC430_W250_2)
  {
  control_table = items_XL;
  the_number_of_item = COUNT_XL_ITEMS;
  }
- else if (num == XM430_W210 || num == XM430_W350)
+ else if (num == XM430_W210 || num == XM430_W350 || num == XL330_M077 || num == XL330_M288)
  {
  control_table = items_XM;
  the_number_of_item = COUNT_XM_ITEMS;
@@ -1316,7 +1316,7 @@ const ControlItem *DynamixelItem::getControlTable(uint16_t model_number)
  control_table = items_EXTXM;
  the_number_of_item = COUNT_EXTXM_ITEMS;
  }
- else if (num == XH430_V210 || num == XH430_V350 || num == XH430_W210 || num == XH430_W350)
+ else if (num == XH430_V210 || num == XH430_V350 || num == XH430_W210 || num == XH430_W350 || num == XW540_T140 || num == XW540_T260)
  {
  control_table = items_XH;
  the_number_of_item = COUNT_XH_ITEMS;
@@ -1407,19 +1407,19 @@ const ModelInfo *DynamixelItem::getModelInfo(uint16_t model_number)
  {
  info = &info_XL320;
  }
- else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240)
+ else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240 || num == XC430_W250_2)
  {
  info = &info_XL;
  }
- else if (num == XM430_W210 || num == XM430_W350)
+ else if (num == XM430_W210 || num == XM430_W350 || num == XL330_M077 || num == XL330_M288)
  {
  info = &info_XM;
  }
  else if (num == XM540_W150 || num == XM540_W270)
  {
  info = &info_EXTXM;
  }
- else if (num == XH430_V210 || num == XH430_V350 || num == XH430_W210 || num == XH430_W350)
+ else if (num == XH430_V210 || num == XH430_V350 || num == XH430_W210 || num == XH430_W350 || num == XW540_T140 || num == XW540_T260)
  {
  info = &info_XH;
  }

arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_tool.cpp

@@ -49,8 +49,11 @@ static const DynamixelModel dynamixel_model_table[] = {
 
  {XL_320, "XL-320"},
  {XL430_W250, "XL430-W250"},
+ {XL330_M077, "XL330-M077"},
+ {XL330_M288, "XL330-M288"},
 
  {XL430_W250_2, "XL430-W250-2"}, // 2XL
+ {XC430_W250_2, "XC430-W240-2"}, // 2XC
 
  {XC430_W150, "XC430-W150"},
  {XC430_W240, "XC430-W240"},
@@ -66,10 +69,13 @@ static const DynamixelModel dynamixel_model_table[] = {
  {XH430_W210, "XH430-W210"},
  {XH430_W350, "XH430-W350"},
 
- {XH540_W150, "XH540_W150"},
- {XH540_W270, "XH540_W270"},
- {XH540_V150, "XH540_V150"},
- {XH540_V270, "XH540_V270"},
+ {XH540_W150, "XH540-W150"},
+ {XH540_W270, "XH540-W270"},
+ {XH540_V150, "XH540-V150"},
+ {XH540_V270, "XH540-V270"},
+
+ {XW540_T140, "XW540-T140"},
+ {XW540_T260, "XW540-T260"},
 
  {PRO_L42_10_S300_R, "PRO-L42-10-S300-R"},
  {PRO_L54_30_S400_R, "PRO-L54-30-S400-R"},

arduino/opencr_arduino/opencr/libraries/DynamixelWorkbench/src/dynamixel_workbench_toolbox/dynamixel_workbench.cpp

@@ -298,9 +298,11 @@ bool DynamixelWorkbench::setNormalDirection(uint8_t id, const char **log)
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XL430", strlen("XL430")) ||
  !strncmp(model_name, "XC430", strlen("XC430")) ||
- !strncmp(model_name, "XH", strlen("XH")))
+ !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")))
  { 
  result = readRegister(id, "Drive_Mode", &data, log);
 
@@ -329,9 +331,11 @@ bool DynamixelWorkbench::setReverseDirection(uint8_t id, const char **log)
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XL430", strlen("XL430")) ||
  !strncmp(model_name, "XC430", strlen("XC430")) ||
- !strncmp(model_name, "XH", strlen("XH")))
+ !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")))
  {
  result = readRegister(id, "Drive_Mode", &data, log);
 
@@ -360,9 +364,11 @@ bool DynamixelWorkbench::setVelocityBasedProfile(uint8_t id, const char **log)
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XL430", strlen("XL430")) ||
  !strncmp(model_name, "XC430", strlen("XC430")) ||
- !strncmp(model_name, "XH", strlen("XH")))
+ !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")))
  {
  result = readRegister(id, "Drive_Mode", &data, log);
 
@@ -391,9 +397,11 @@ bool DynamixelWorkbench::setTimeBasedProfile(uint8_t id, const char **log)
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XL430", strlen("XL430")) ||
  !strncmp(model_name, "XC430", strlen("XC430")) ||
- !strncmp(model_name, "XH", strlen("XH")))
+ !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")))
  {
  result = readRegister(id, "Drive_Mode", &data, log);
 
@@ -421,10 +429,12 @@ bool DynamixelWorkbench::setSecondaryID(uint8_t id, uint8_t secondary_id, const
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XL430", strlen("XL430")) ||
  !strncmp(model_name, "XC430", strlen("XC430")) ||
  !strncmp(model_name, "XH", strlen("XH")) ||
- !strncmp(model_name, "RH", strlen("RH")))
+ !strncmp(model_name, "RH", strlen("RH")) ||
+ !strncmp(model_name, "XW", strlen("XW")))
  {
  result = torqueOff(id, log);
  if (result == false) return false;
@@ -585,10 +595,12 @@ bool DynamixelWorkbench::setOperatingMode(uint8_t id, uint8_t index, const char
  if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) ||
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XL430", strlen("XL430")) ||
  !strncmp(model_name, "XC430", strlen("XC430")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
  !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")) ||
  !strncmp(model_name, "PRO", strlen("PRO")) ||
  !strncmp(model_name, "RH", strlen("RH")))
  {
@@ -610,10 +622,12 @@ bool DynamixelWorkbench::setOperatingMode(uint8_t id, uint8_t index, const char
  if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) ||
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XL430", strlen("XL430")) ||
  !strncmp(model_name, "XC430", strlen("XC430")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
  !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")) ||
  !strncmp(model_name, "PRO", strlen("PRO")))
  {
  result = writeRegister(id, "Operating_Mode", VELOCITY_CONTROL_MODE);
@@ -626,10 +640,12 @@ bool DynamixelWorkbench::setOperatingMode(uint8_t id, uint8_t index, const char
  }
  else if (index == CURRENT_CONTROL_MODE)
  {
- if (!strncmp(model_name, "XM", strlen("XM")) ||
+ if (!strncmp(model_name, "XL330", strlen("XL330")) ||
+ !strncmp(model_name, "XM", strlen("XM")) ||
  !strncmp(model_name, "XH", strlen("XH")) ||
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
+ !strncmp(model_name, "XW", strlen("XW")) ||
  !strncmp(model_name, "RH", strlen("RH")))
  {
  result = writeRegister(id, "Operating_Mode", CURRENT_CONTROL_MODE, log);
@@ -656,8 +672,10 @@ bool DynamixelWorkbench::setOperatingMode(uint8_t id, uint8_t index, const char
  {
  if (!strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
  !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")) ||
  !strncmp(model_name, "RH", strlen("RH")))
  {
  result = writeRegister(id, "Operating_Mode", CURRENT_BASED_POSITION_CONTROL_MODE, log);
@@ -669,7 +687,8 @@ bool DynamixelWorkbench::setOperatingMode(uint8_t id, uint8_t index, const char
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
- !strncmp(model_name, "XH", strlen("XH")))
+ !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")))
  {
  result = writeRegister(id, "Operating_Mode", PWM_CONTROL_MODE, log);
  }
@@ -693,8 +712,10 @@ bool DynamixelWorkbench::setOperatingMode(uint8_t id, uint8_t index, const char
  }
  else if (index == CURRENT_CONTROL_MODE)
  {
- if (!strncmp(model_name, "XM", strlen("XM")) ||
+ if (!strncmp(model_name, "XL330", strlen("XL330")) ||
+ !strncmp(model_name, "XM", strlen("XM")) ||
  !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")) ||
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
  !strncmp(model_name, "RH", strlen("RH")))
@@ -722,8 +743,10 @@ bool DynamixelWorkbench::setOperatingMode(uint8_t id, uint8_t index, const char
  {
  if (!strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
  !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")) ||
  !strncmp(model_name, "RH", strlen("RH")))
  {
  result = writeRegister(id, "Operating_Mode", CURRENT_BASED_POSITION_CONTROL_MODE, log);
@@ -734,10 +757,12 @@ bool DynamixelWorkbench::setOperatingMode(uint8_t id, uint8_t index, const char
  if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) ||
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
- !strncmp(model_name, "XM", strlen("XM")) ||
- !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XL430", strlen("XL430")) ||
  !strncmp(model_name, "XC430", strlen("XC430")) ||
+ !strncmp(model_name, "XM", strlen("XM")) ||
+ !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")) ||
  !strncmp(model_name, "PRO", strlen("PRO")))
  {
  result = writeRegister(id, "Operating_Mode", PWM_CONTROL_MODE, log);
@@ -774,10 +799,12 @@ bool DynamixelWorkbench::jointMode(uint8_t id, int32_t velocity, int32_t acceler
  if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) ||
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XL430", strlen("XL430")) ||
  !strncmp(model_name, "XC430", strlen("XC430")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
- !strncmp(model_name, "XH", strlen("XH")))
+ !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")))
  {
  result = writeRegister(id, "Profile_Acceleration", acceleration, log);
  result = writeRegister(id, "Profile_Velocity", velocity, log);
@@ -855,10 +882,12 @@ bool DynamixelWorkbench::wheelMode(uint8_t id, int32_t acceleration, const char
  if (!strncmp(model_name, "MX-28-2", strlen("MX-28-2")) ||
  !strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XL430", strlen("XL430")) ||
  !strncmp(model_name, "XC430", strlen("XC430")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
- !strncmp(model_name, "XH", strlen("XH")))
+ !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")))
  {
  result = writeRegister(id, "Profile_Acceleration", acceleration, log);
  }
@@ -913,8 +942,10 @@ bool DynamixelWorkbench::currentBasedPositionMode(uint8_t id, int32_t current, c
 
  if (!strncmp(model_name, "MX-64-2", strlen("MX-64-2")) ||
  !strncmp(model_name, "MX-106-2", strlen("MX-106-2")) ||
+ !strncmp(model_name, "XL330", strlen("XL330")) ||
  !strncmp(model_name, "XM", strlen("XM")) ||
  !strncmp(model_name, "XH", strlen("XH")) ||
+ !strncmp(model_name, "XW", strlen("XW")) ||
  !strncmp(model_name, "RH", strlen("RH")))
  { 
  result = writeRegister(id, "Goal_Current", current, log);
@@ -936,7 +967,9 @@ bool DynamixelWorkbench::currentBasedPositionMode(uint8_t id, int32_t current, c
 //keep compatibility with older codes
 bool DynamixelWorkbench::goalPosition(uint8_t id, int value, const char **log)
 {
- goalPosition(id, (int32_t)value, log);
+ bool result = false;
+ result = goalPosition(id, (int32_t)value, log);
+ return result;
 }
 
 bool DynamixelWorkbench::goalPosition(uint8_t id, int32_t value, const char **log)
@@ -966,7 +999,9 @@ bool DynamixelWorkbench::goalSpeed(uint8_t id, int value, const char **log)
 //keep compatibility with older codes
 bool DynamixelWorkbench::goalVelocity(uint8_t id, int value, const char **log)
 {
+ bool result = false;
  goalVelocity(id, (int32_t)value, log);
+ return result;
 }
 
 bool DynamixelWorkbench::goalVelocity(uint8_t id, int32_t value, const char **log)