packed structure, added master raw APIs, added OpenCM9.04 setDxlMode()

Kei · Kei · commit 7e293683b8e1 · 2019-10-17T17:22:35.000+09:00
in SerialPortHandler.begin(), modified examples comment for OpenCM9.04
diff --git a/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino b/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
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
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino b/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
@@ -123,9 +123,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/advanced/slave/slave.ino b/examples/advanced/slave/slave.ino
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/advanced/slave_callback/slave_callback.ino b/examples/advanced/slave_callback/slave_callback.ino
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/advanced/sync_bulk_raw/sync_bulk_raw.ino b/examples/advanced/sync_bulk_raw/sync_bulk_raw.ino
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
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
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/basic/baudrate/baudrate.ino b/examples/basic/baudrate/baudrate.ino
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/basic/current_mode/current_mode.ino b/examples/basic/current_mode/current_mode.ino
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/basic/current_position_mode/current_position_mode.ino b/examples/basic/current_position_mode/current_position_mode.ino
@@ -28,9 +28,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/basic/id/id.ino b/examples/basic/id/id.ino
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/basic/led/led.ino b/examples/basic/led/led.ino
@@ -21,8 +21,8 @@
   #define DXL_SERIAL   Serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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.)  
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/basic/operation_mode/operation_mode.ino b/examples/basic/operation_mode/operation_mode.ino
@@ -34,9 +34,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/basic/ping/ping.ino b/examples/basic/ping/ping.ino
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/basic/position_mode/position_mode.ino b/examples/basic/position_mode/position_mode.ino
@@ -24,9 +24,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
diff --git a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
@@ -29,9 +29,9 @@
   #define DEBUG_SERIAL soft_serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
-  #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 DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #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 = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
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
diff --git a/src/Dynamixel2Arduino.h b/src/Dynamixel2Arduino.h
diff --git a/src/utility/master.cpp b/src/utility/master.cpp
diff --git a/src/utility/master.h b/src/utility/master.h
diff --git a/src/utility/port_handler.cpp b/src/utility/port_handler.cpp
