Merge pull request #20 from ROBOTIS-GIT/update_examples

Kei · web-flow · commit 5ae20913526b · 2019-09-20T09:38:18.000+09:00
updated examples to reduce RAM usage, changed DEBUG_SERIAL definition.
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
@@ -16,24 +16,16 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //RX,TX
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 /* XelInfoForBulkReadParam_t
diff --git a/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino b/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
@@ -16,24 +16,16 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //RX,TX
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 const uint8_t DXL_ID = 1;
diff --git a/examples/advanced/slave/slave.ino b/examples/advanced/slave/slave.ino
@@ -20,14 +20,14 @@
 // Please modify it to suit your hardware.
 #if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //RX,TX //UART Port on DYNAMIXEL Shield
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 // Create a port object for DYNAMIXEL communication.
diff --git a/examples/advanced/slave_callback/slave_callback.ino b/examples/advanced/slave_callback/slave_callback.ino
@@ -20,14 +20,14 @@
 // Please modify it to suit your hardware.
 #if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //RX,TX //UART Port on DYNAMIXEL Shield
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 // Create a port object for DYNAMIXEL communication.
diff --git a/examples/advanced/sync_bulk_raw/sync_bulk_raw.ino b/examples/advanced/sync_bulk_raw/sync_bulk_raw.ino
@@ -16,24 +16,16 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //RX,TX
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)  
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 /* ParamForSyncReadInst_t
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
@@ -16,24 +16,16 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //RX,TX
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)  
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 /* ParamForSyncReadInst_t
diff --git a/examples/basic/baudrate/baudrate.ino b/examples/basic/baudrate/baudrate.ino
@@ -16,24 +16,16 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //RX,TX
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)  
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 const uint8_t DXL_ID = 1;
diff --git a/examples/basic/current_mode/current_mode.ino b/examples/basic/current_mode/current_mode.ino
@@ -16,24 +16,16 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //RX,TX
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)  
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 const uint8_t DXL_ID = 1;
diff --git a/examples/basic/current_position_mode/current_position_mode.ino b/examples/basic/current_position_mode/current_position_mode.ino
@@ -20,24 +20,16 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //RX,TX
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)  
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 const uint8_t DXL_ID = 1;
diff --git a/examples/basic/id/id.ino b/examples/basic/id/id.ino
@@ -16,24 +16,16 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //RX,TX
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)  
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 const uint8_t DXL_ID = 1;
diff --git a/examples/basic/led/led.ino b/examples/basic/led/led.ino
@@ -16,18 +16,12 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #define DXL_SERIAL   Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)  
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 const uint8_t DXL_ID = 1;
diff --git a/examples/basic/operation_mode/operation_mode.ino b/examples/basic/operation_mode/operation_mode.ino
@@ -26,24 +26,16 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //DYNAMIXEL Shield UART RX/TX
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)  
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 const uint8_t DXL_ID = 1;
diff --git a/examples/basic/ping/ping.ino b/examples/basic/ping/ping.ino
@@ -16,24 +16,16 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //DYNAMIXEL Shield UART RX/TX
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)  
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 const uint8_t DXL_ID = 1;
diff --git a/examples/basic/position_mode/position_mode.ino b/examples/basic/position_mode/position_mode.ino
@@ -1,5 +1,5 @@
 /*******************************************************************************
-* Copyright 2019 ROBOTIS CO., LTD.
+* Copyright 2016 ROBOTIS CO., LTD.
 *
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
@@ -16,24 +16,16 @@
 
 #include <Dynamixel2Arduino.h>
 
-#ifdef ARDUINO_AVR_UNO
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
   #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); //RX,TX
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif ARDUINO_AVR_MEGA2560
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL Serial1
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
-#elif BOARD_OpenCM904
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (To use the DXL port on the OpenCM 9.04 board, you must use Serial1 for Serial. And because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (To use the DXL port on the OpenCM 9.04 board, you must use 28 for DIR PIN.)  
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #else
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; //DYNAMIXEL Shield
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 const uint8_t DXL_ID = 1;
diff --git a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
diff --git a/examples/basic/pwm_mode/pwm_mode.ino b/examples/basic/pwm_mode/pwm_mode.ino
diff --git a/examples/basic/scan_dynamixel/scan_dynamixel.ino b/examples/basic/scan_dynamixel/scan_dynamixel.ino
diff --git a/examples/basic/torque/torque.ino b/examples/basic/torque/torque.ino
diff --git a/examples/basic/velocity_mode/velocity_mode.ino b/examples/basic/velocity_mode/velocity_mode.ino
