Merge pull request #3 from ROBOTIS-GIT/develop

added dynamixel model
ROBOTIS-GIT · Feb 14, 2018 · e7b49fc · e7b49fc
2 parents 467d5ba + b8144dc
commit e7b49fc
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Showing 3 changed files with 75 additions and 20 deletions.
diff --git a/examples/addMotor/addMotor.ino b/examples/addMotor/addMotor.ino
@@ -1,10 +1,16 @@
 /*
-#define M_AX12    ((uint8_t)0)
-#define M_AX18    ((uint8_t)1)
-#define M_XL320   ((uint8_t)2)
-#define M_XL430   ((uint8_t)3)
-#define M_XM430   ((uint8_t)4)
-#define M_XM540   ((uint8_t)5)
+#define M_AX12    
+#define M_AX18    
+#define M_RX24    
+#define M_RX28    
+#define M_RX64    
+#define M_EX106   
+#define M_MX28    
+#define M_MX64    
+#define M_MX106   
+#define M_MX28_2  
+#define M_MX64_2  
+#define M_MX106_2 
 */
 
 

diff --git a/src/DynamixelShield.cpp b/src/DynamixelShield.cpp
@@ -763,11 +763,32 @@ uint8_t DynamixelShield::getDxlModelIndex(uint16_t model_number)
   {
     case 12:    // AX12+
     case 300:   // AX12W
-      model_index = M_AX12;
+    case 18:    // AX18
+    case 24:    // RX-24F
+    case 28:    // RX-28
+    case 64:    // RX-64
+      model_index = M_AX;
       break;
 
-    case 18:    // AX18
-      model_index = M_AX18;
+    case 106:   // EX-106
+    case 107:   // EX-106+
+      model_index = M_EX;
+      break;
+
+    case 29:    // MX-28
+    case 310:   // MX-64
+    case 320:   // MX-106
+      model_index = M_MX;
+      break;
+
+    case 30:    // MX-28(2.0)
+    case 311:   // MX-64(2.0)
+    case 321:   // MX-106(2.0)
+      model_index = M_MX2;
+      break;
+
+    case 350:   // XL320
+      model_index = M_XL320;
       break;
 
     case 1060:  // XL430-W250
@@ -805,8 +826,7 @@ void DynamixelShield::getDxlModel(uint8_t model_index, dxl_model_t *p_model)
 {
   switch(model_index)
   {
-    case M_AX12:
-    case M_AX18:
+    case M_AX:
       p_model->protocol = DXL_PACKET_VER_1_0;
       p_model->goal_pos.addr   = 30;
       p_model->goal_pos.length = 2;
@@ -822,12 +842,26 @@ void DynamixelShield::getDxlModel(uint8_t model_index, dxl_model_t *p_model)
       p_model->led.length = 1;   
       p_model->op_mode.addr   = 25;
       p_model->op_mode.length = 1; 
-      p_model->max_res = 1024;
-      p_model->max_angle = 3000;
       p_model->id.addr   = 3;
       p_model->id.length = 1;         
       p_model->baud.addr   = 4;
       p_model->baud.length = 1;               
+
+      if (model_index == M_EX)
+      {
+        p_model->max_res = 4096;
+        p_model->max_angle = 2509;        
+      }
+      else if (model_index == M_MX)
+      {
+        p_model->max_res = 4096;
+        p_model->max_angle = 3600;          
+      }
+      else
+      {
+        p_model->max_res = 1024;
+        p_model->max_angle = 3000;
+      }
       break;
 
     case M_XL320:

diff --git a/src/DynamixelShield.h b/src/DynamixelShield.h
@@ -31,13 +31,28 @@
 
 
 
-#define M_AX12    ((uint8_t)0)
-#define M_AX18    ((uint8_t)1)
-#define M_XL320   ((uint8_t)2)
-#define M_XL430   ((uint8_t)3)
-#define M_XM430   ((uint8_t)4)
-#define M_XM540   ((uint8_t)5)
-
+#define M_AX      ((uint8_t)0)
+#define M_RX      ((uint8_t)1)
+#define M_EX      ((uint8_t)2)
+#define M_MX      ((uint8_t)3)
+#define M_MX2     ((uint8_t)4)
+#define M_XL320   ((uint8_t)5)
+#define M_XL430   ((uint8_t)6)
+#define M_XM430   ((uint8_t)7)
+#define M_XM540   ((uint8_t)8)
+
+#define M_AX12    M_AX
+#define M_AX18    M_AX
+#define M_RX24    M_RX
+#define M_RX28    M_RX
+#define M_RX64    M_RX
+#define M_EX106   M_EX
+#define M_MX28    M_MX
+#define M_MX64    M_MX
+#define M_MX106   M_MX
+#define M_MX28_2  M_MX2
+#define M_MX64_2  M_MX2
+#define M_MX106_2 M_MX2
 
 
 typedef struct