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Kei
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Updated examples's comment and definitions for OpenCR, OpenCM9.04.
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-46
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21 files changed

+267
-46
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‎examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino

Lines changed: 13 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -16,14 +16,24 @@
1616

1717
#include <Dynamixel2Arduino.h>
1818

19-
20-
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
19+
// Please modify it to suit your hardware.
20+
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
2121
#include <SoftwareSerial.h>
2222
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
2323
#define DXL_SERIAL Serial
2424
#define DEBUG_SERIAL soft_serial
2525
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
26-
#else
26+
#elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
27+
#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();.)
28+
#define DEBUG_SERIAL Serial
29+
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.)
30+
#elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
31+
// For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
32+
// Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
33+
#define DXL_SERIAL Serial3
34+
#define DEBUG_SERIAL Serial
35+
const uint8_t DXL_DIR_PIN = 84; //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.)
36+
#else // When using DynamixelShield
2737
#define DXL_SERIAL Serial1
2838
#define DEBUG_SERIAL Serial
2939
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN

‎examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino

Lines changed: 13 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -16,13 +16,24 @@
1616

1717
#include <Dynamixel2Arduino.h>
1818

19-
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
19+
// Please modify it to suit your hardware.
20+
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
2021
#include <SoftwareSerial.h>
2122
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
2223
#define DXL_SERIAL Serial
2324
#define DEBUG_SERIAL soft_serial
2425
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
25-
#else
26+
#elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
27+
#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();.)
28+
#define DEBUG_SERIAL Serial
29+
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.)
30+
#elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
31+
// For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
32+
// Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
33+
#define DXL_SERIAL Serial3
34+
#define DEBUG_SERIAL Serial
35+
const uint8_t DXL_DIR_PIN = 84; //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.)
36+
#else // When using DynamixelShield
2637
#define DXL_SERIAL Serial1
2738
#define DEBUG_SERIAL Serial
2839
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN

‎examples/advanced/operating_mode_advanced/operating_mode_advanced.ino

Lines changed: 13 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -16,13 +16,24 @@
1616

1717
#include <Dynamixel2Arduino.h>
1818

19-
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
19+
// Please modify it to suit your hardware.
20+
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
2021
#include <SoftwareSerial.h>
2122
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
2223
#define DXL_SERIAL Serial
2324
#define DEBUG_SERIAL soft_serial
2425
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
25-
#else
26+
#elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
27+
#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();.)
28+
#define DEBUG_SERIAL Serial
29+
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.)
30+
#elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
31+
// For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
32+
// Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
33+
#define DXL_SERIAL Serial3
34+
#define DEBUG_SERIAL Serial
35+
const uint8_t DXL_DIR_PIN = 84; //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.)
36+
#else // When using DynamixelShield
2637
#define DXL_SERIAL Serial1
2738
#define DEBUG_SERIAL Serial
2839
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN

‎examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino

Lines changed: 13 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -115,14 +115,24 @@
115115
EXTERNAL_PORT_DATA_4,
116116
*/
117117

118-
119-
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
118+
// Please modify it to suit your hardware.
119+
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
120120
#include <SoftwareSerial.h>
121121
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
122122
#define DXL_SERIAL Serial
123123
#define DEBUG_SERIAL soft_serial
124124
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
125-
#else
125+
#elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
126+
#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();.)
127+
#define DEBUG_SERIAL Serial
128+
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.)
129+
#elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
130+
// For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
131+
// Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
132+
#define DXL_SERIAL Serial3
133+
#define DEBUG_SERIAL Serial
134+
const uint8_t DXL_DIR_PIN = 84; //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.)
135+
#else // When using DynamixelShield
126136
#define DXL_SERIAL Serial1
127137
#define DEBUG_SERIAL Serial
128138
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN

‎examples/advanced/slave/slave.ino

Lines changed: 12 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -16,15 +16,24 @@
1616

1717
#include <Dynamixel2Arduino.h>
1818

19-
// The following definitions are examples when using the DYNAMIXEL Shield.
2019
// Please modify it to suit your hardware.
21-
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
20+
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
2221
#include <SoftwareSerial.h>
2322
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
2423
#define DXL_SERIAL Serial
2524
#define DEBUG_SERIAL soft_serial
2625
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
27-
#else
26+
#elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
27+
#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();.)
28+
#define DEBUG_SERIAL Serial
29+
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.)
30+
#elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
31+
// For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
32+
// Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
33+
#define DXL_SERIAL Serial3
34+
#define DEBUG_SERIAL Serial
35+
const uint8_t DXL_DIR_PIN = 84; //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.)
36+
#else // When using DynamixelShield
2837
#define DXL_SERIAL Serial1
2938
#define DEBUG_SERIAL Serial
3039
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN

‎examples/advanced/slave_callback/slave_callback.ino

Lines changed: 12 additions & 3 deletions
Original file line numberDiff line numberDiff line change
@@ -16,15 +16,24 @@
1616

1717
#include <Dynamixel2Arduino.h>
1818

19-
// The following definitions are examples when using the DYNAMIXEL Shield.
2019
// Please modify it to suit your hardware.
21-
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
20+
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
2221
#include <SoftwareSerial.h>
2322
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
2423
#define DXL_SERIAL Serial
2524
#define DEBUG_SERIAL soft_serial
2625
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
27-
#else
26+
#elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
27+
#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();.)
28+
#define DEBUG_SERIAL Serial
29+
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.)
30+
#elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
31+
// For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
32+
// Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
33+
#define DXL_SERIAL Serial3
34+
#define DEBUG_SERIAL Serial
35+
const uint8_t DXL_DIR_PIN = 84; //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.)
36+
#else // When using DynamixelShield
2837
#define DXL_SERIAL Serial1
2938
#define DEBUG_SERIAL Serial
3039
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN

‎examples/advanced/sync_bulk_raw/sync_bulk_raw.ino

Lines changed: 13 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -16,13 +16,24 @@
1616

1717
#include <Dynamixel2Arduino.h>
1818

19-
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
19+
// Please modify it to suit your hardware.
20+
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
2021
#include <SoftwareSerial.h>
2122
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
2223
#define DXL_SERIAL Serial
2324
#define DEBUG_SERIAL soft_serial
2425
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
25-
#else
26+
#elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
27+
#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();.)
28+
#define DEBUG_SERIAL Serial
29+
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.)
30+
#elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
31+
// For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
32+
// Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
33+
#define DXL_SERIAL Serial3
34+
#define DEBUG_SERIAL Serial
35+
const uint8_t DXL_DIR_PIN = 84; //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.)
36+
#else // When using DynamixelShield
2637
#define DXL_SERIAL Serial1
2738
#define DEBUG_SERIAL Serial
2839
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN

‎examples/advanced/sync_read_write_raw/sync_read_write_raw.ino

Lines changed: 13 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -16,13 +16,24 @@
1616

1717
#include <Dynamixel2Arduino.h>
1818

19-
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
19+
// Please modify it to suit your hardware.
20+
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
2021
#include <SoftwareSerial.h>
2122
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
2223
#define DXL_SERIAL Serial
2324
#define DEBUG_SERIAL soft_serial
2425
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
25-
#else
26+
#elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
27+
#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();.)
28+
#define DEBUG_SERIAL Serial
29+
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.)
30+
#elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
31+
// For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
32+
// Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
33+
#define DXL_SERIAL Serial3
34+
#define DEBUG_SERIAL Serial
35+
const uint8_t DXL_DIR_PIN = 84; //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.)
36+
#else // When using DynamixelShield
2637
#define DXL_SERIAL Serial1
2738
#define DEBUG_SERIAL Serial
2839
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN

‎examples/basic/baudrate/baudrate.ino

Lines changed: 13 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -16,13 +16,24 @@
1616

1717
#include <Dynamixel2Arduino.h>
1818

19-
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
19+
// Please modify it to suit your hardware.
20+
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
2021
#include <SoftwareSerial.h>
2122
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
2223
#define DXL_SERIAL Serial
2324
#define DEBUG_SERIAL soft_serial
2425
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
25-
#else
26+
#elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
27+
#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();.)
28+
#define DEBUG_SERIAL Serial
29+
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.)
30+
#elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
31+
// For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
32+
// Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
33+
#define DXL_SERIAL Serial3
34+
#define DEBUG_SERIAL Serial
35+
const uint8_t DXL_DIR_PIN = 84; //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.)
36+
#else // When using DynamixelShield
2637
#define DXL_SERIAL Serial1
2738
#define DEBUG_SERIAL Serial
2839
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN

‎examples/basic/current_mode/current_mode.ino

Lines changed: 13 additions & 2 deletions
Original file line numberDiff line numberDiff line change
@@ -16,13 +16,24 @@
1616

1717
#include <Dynamixel2Arduino.h>
1818

19-
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560)
19+
// Please modify it to suit your hardware.
20+
#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
2021
#include <SoftwareSerial.h>
2122
SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
2223
#define DXL_SERIAL Serial
2324
#define DEBUG_SERIAL soft_serial
2425
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
25-
#else
26+
#elif ARDUINO_OpenCM904 // Official ROBOTIS board with DXL circuit.
27+
#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();.)
28+
#define DEBUG_SERIAL Serial
29+
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.)
30+
#elif ARDUINO_OpenCR // Official ROBOTIS board with DXL circuit.
31+
// For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
32+
// Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
33+
#define DXL_SERIAL Serial3
34+
#define DEBUG_SERIAL Serial
35+
const uint8_t DXL_DIR_PIN = 84; //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.)
36+
#else // When using DynamixelShield
2637
#define DXL_SERIAL Serial1
2738
#define DEBUG_SERIAL Serial
2839
const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN

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