Merge pull request #14 from ROBOTIS-GIT/release-0.1.5

Release 0.1.5
ROBOTIS-GIT · Dec 20, 2019 · efd367a · efd367a
2 parents 7712fd3 + 7aaa004
commit efd367a
Show file tree

Hide file tree

Showing 18 changed files with 36 additions and 5 deletions.
diff --git a/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino b/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino b/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB 
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
@@ -115,12 +115,12 @@
   EXTERNAL_PORT_DATA_4,
 */
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
-#elif ARDUINO_AVR_MEGA2560
-  #define DEBUG_SERIAL Serial1
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/advanced/sync_bulk_raw/sync_bulk_raw.ino b/examples/advanced/sync_bulk_raw/sync_bulk_raw.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/advanced/sync_read_write_raw/sync_read_write_raw.ino b/examples/advanced/sync_read_write_raw/sync_read_write_raw.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB  
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/basic/baudrate/baudrate.ino b/examples/basic/baudrate/baudrate.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB    
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/basic/current_mode/current_mode.ino b/examples/basic/current_mode/current_mode.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB    
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/basic/current_position_mode/current_position_mode.ino b/examples/basic/current_position_mode/current_position_mode.ino
@@ -24,6 +24,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB    
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/basic/id/id.ino b/examples/basic/id/id.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB    
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/basic/operating_mode/operating_mode.ino b/examples/basic/operating_mode/operating_mode.ino
@@ -30,6 +30,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB    
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/basic/ping/ping.ino b/examples/basic/ping/ping.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB    
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/basic/position_mode/position_mode.ino b/examples/basic/position_mode/position_mode.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB    
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
@@ -25,6 +25,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB    
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/basic/pwm_mode/pwm_mode.ino b/examples/basic/pwm_mode/pwm_mode.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB  
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/basic/scan_dynamixel/scan_dynamixel.ino b/examples/basic/scan_dynamixel/scan_dynamixel.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/examples/basic/velocity_mode/velocity_mode.ino b/examples/basic/velocity_mode/velocity_mode.ino
@@ -20,6 +20,8 @@
   #include <SoftwareSerial.h>
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DEBUG_SERIAL soft_serial
+#elif defined(ARDUINO_SAM_DUE) || defined(ARDUINO_SAM_ZERO)
+  #define DEBUG_SERIAL SerialUSB
 #else
   #define DEBUG_SERIAL Serial
 #endif

diff --git a/library.properties b/library.properties
@@ -1,5 +1,5 @@
 name=DynamixelShield
-version=0.1.4
+version=0.1.5
 author=ROBOTIS
 license=Apache-2.0
 maintainer=Kei(kkw@robotis.com)

diff --git a/src/DynamixelShield.h b/src/DynamixelShield.h
@@ -28,7 +28,8 @@
 #endif
 
 
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
+// https://www.arduino.cc/reference/en/language/functions/communication/serial/
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) || defined(ARDUINO_SAM_DUE)
   #define DXL_SERIAL   Serial
 #else
   #define DXL_SERIAL   Serial1