XC330 added

ROBOTIS-GIT · Jun 17, 2021 · 886eba9 · 886eba9
1 parent 73c4d67
commit 886eba9
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Showing 4 changed files with 69 additions and 1 deletion.
diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp
@@ -33,6 +33,10 @@ const uint16_t model_number_table[] PROGMEM = {
     XL320,
     XL330_M288,
     XL330_M077,
+    XC330_M181,
+    XC330_M288,    
+    XC330_T181,
+    XC330_T288,    
     XL430_W250,
     XXL430_W250,
     XC430_W150,  XC430_W240,
@@ -298,7 +302,10 @@ bool Dynamixel2Arduino::setBaudrate(uint8_t id, uint32_t baudrate)
           return false;                    
       }    
       break;
-
+    case XC330_M288:
+    case XC330_M181:
+    case XC330_T288:
+    case XC330_T181:
     case XL330_M288:
     case XL330_M077:
       switch(baudrate)
@@ -652,6 +659,10 @@ bool Dynamixel2Arduino::setOperatingMode(uint8_t id, uint8_t mode)
     case MX106_2:
     case XL330_M288:
     case XL330_M077:
+    case XC330_M288:
+    case XC330_M181:    
+    case XC330_T181:
+    case XC330_T288:    
     case XM430_W210:
     case XM430_W350:
     case XH430_V210:
@@ -1088,6 +1099,7 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_ctable_2_0_common[] PROGM
   || ENABLE_ACTUATOR_MX64_PROTOCOL2 \
   || ENABLE_ACTUATOR_MX106_PROTOCOL2 \
   || ENABLE_ACTUATOR_XL330 \
+  || ENABLE_ACTUATOR_XC330 \
   || ENABLE_ACTUATOR_XC430 \
   || ENABLE_ACTUATOR_XL430 \
   || ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 \
@@ -1131,6 +1143,29 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_xl330_M288_M077[] PROGMEM
   {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},
+  {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -2352, 2352, 1},
+
+  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
+  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
+#endif
+  {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
+};
+
+const ModelDependencyFuncItemAndRangeInfo_t dependency_xc330_t181_t288[] PROGMEM = {
+#if (ENABLE_ACTUATOR_XC330)
+  {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -910, 910, 1},
+  {GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -910, 910, 1},
+
+  {SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
+  {GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
+#endif
+  {LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
+};
+
+
 const ModelDependencyFuncItemAndRangeInfo_t dependency_xm430_w210_w350[] PROGMEM = {
 #if (ENABLE_ACTUATOR_XM430)
   {SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 2.69},
@@ -1426,6 +1461,18 @@ static ItemAndRangeInfo_t getModelDependencyFuncInfo(uint16_t model_num, uint8_t
       p_dep_ctable = dependency_xl330_M288_M077;
       break;
 
+    case XC330_M181:
+    case XC330_M288:
+      p_common_ctable = dependency_ctable_2_0_common;
+      p_dep_ctable = dependency_xc330_m181_m288;
+      break;
+
+    case XC330_T181:
+    case XC330_T288:
+      p_common_ctable = dependency_ctable_2_0_common;
+      p_dep_ctable = dependency_xc330_t181_t288;
+      break;
+
     case XM430_W210:
     case XM430_W350:
       p_common_ctable = dependency_ctable_2_0_common;

diff --git a/src/actuator.cpp b/src/actuator.cpp
@@ -169,6 +169,7 @@ const ModelControlTableInfo_t control_table_2_0[] PROGMEM = {
  || ENABLE_ACTUATOR_MX64_PROTOCOL2 \
  || ENABLE_ACTUATOR_MX106_PROTOCOL2 \
  || ENABLE_ACTUATOR_XL330 \
+ || ENABLE_ACTUATOR_XC330 \
  || ENABLE_ACTUATOR_XL430 \
  || ENABLE_ACTUATOR_XC430 \
  || ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 \
@@ -256,6 +257,7 @@ const ModelControlTableInfo_t xc430_xl430_control_table[] PROGMEM = {
 
 const ModelControlTableInfo_t xmh430_xl330_control_table[] PROGMEM = {
 #if (ENABLE_ACTUATOR_XL330 \
+ || ENABLE_ACTUATOR_XC330 \
  || ENABLE_ACTUATOR_XM430 \
  || ENABLE_ACTUATOR_XH430)
   {ControlTableItem::CURRENT_LIMIT,           38, 2},
@@ -484,6 +486,10 @@ ControlTableItemInfo_t DYNAMIXEL::getControlTableItemInfo(uint16_t model_num, ui
 
     case XL330_M288:
     case XL330_M077:
+    case XC330_M181:
+    case XC330_M288:
+    case XC330_T181:
+    case XC330_T288:    
     case XM430_W210:
     case XM430_W350:
     case XH430_V210:

diff --git a/src/actuator.h b/src/actuator.h
@@ -79,6 +79,20 @@
 #define XL330_M288          (uint16_t)1200
 #endif
 
+#ifndef XC330_M181
+#define XC330_M181          (uint16_t)1230
+#endif
+#ifndef XC330_M288
+#define XC330_M288          (uint16_t)1240
+#endif
+
+#ifndef XC330_T181
+#define XC330_T181          (uint16_t)1210
+#endif
+#ifndef XC330_T288
+#define XC330_T288          (uint16_t)1220
+#endif
+
 #ifndef XC430_W150
 #define XC430_W150          (uint16_t)1070
 #endif

diff --git a/src/utility/config.h b/src/utility/config.h
@@ -17,6 +17,7 @@
 
 #define ENABLE_ACTUATOR_XL320           1
 #define ENABLE_ACTUATOR_XL330           1
+#define ENABLE_ACTUATOR_XC330           1
 #define ENABLE_ACTUATOR_XL430           1   //Includes 2XL430
 #define ENABLE_ACTUATOR_XC430           1   //Includes 2XC430
 #define ENABLE_ACTUATOR_XM430           1