0.1.0 - Indirect Addressing, Goal Current Control, and Performance Enhancements

Major Features Added

🎯 Indirect Addressing Support

Complete DYNAMIXEL indirect addressing functionality for high-performance applications:

• setupIndirectAddress(), writeIndirectData(), readIndirectData() for basic operations
• bulkReadIndirect() and bulkWriteIndirect() with automatic contiguous address optimization
• setupCommonIndirectMappings() and readCommonStatus() for streamlined monitoring
• Full validation with descriptive error messages
• Supports up to 20 indirect mappings with efficient bulk operations

⚡ Goal Current Control

Current-based motor control for precise torque applications:

• setGoalCurrent() and getGoalCurrent() methods
• Enhanced control capabilities for force/torque-sensitive applications
• Seamless integration with existing position and velocity control

⏱️ Realtime Tick Support

Hardware timestamp access for precise timing:

• getRealtimeTick() method for 16-bit hardware timestamp counter
• Enables precise timing measurements and multi-motor synchronization
• Essential for real-time applications and performance monitoring

🚀 Serial Buffer Configuration

Configurable buffer sizes for performance optimization:

• highWaterMark option in SerialConnection and DynamixelController
• Default 64KB, configurable from 0 to 1MB+ for different use cases
• Optimizes memory usage and performance for high-speed applications

🛠️ Enhanced Development Tools

New example applications:

• realtime-timestamp-test.js - Demonstrates indirect addressing and realtime tick
• serial-buffer-options.js - Shows buffer configuration options
• Enhanced motor profiles and debugging utilities

Technical Improvements

• Advanced Protocol Support - Full indirect addressing implementation
• Performance Optimization - Configurable buffers and contiguous bulk operations
• Real-time Capabilities - Hardware timestamp access
• Enhanced Documentation - Better TypeScript/JSDoc integration

Migration Guide

• High-performance apps: Use indirect addressing for efficient bulk operations
• Precise control apps: Utilize current-based torque control methods
• Real-time apps: Use hardware timestamp for synchronization
• Buffer optimization: Configure highWaterMark based on your requirements

Compatibility

All changes are backward compatible - no breaking changes.

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