add delay for FET

ROBOTIS-Will · ROBOTIS-Will · commit b745e7f93aaa · 2022-04-14T11:45:39.000+09:00
Signed-off-by: ROBOTIS-Will &lt;willson@robotis.com&gt;
diff --git a/examples/basic/position_mode/position_mode.ino b/examples/basic/position_mode/position_mode.ino
@@ -93,7 +93,7 @@ void loop() {
   int i_present_position = 0;
   float f_present_position = 0.0;
 
-  while (abs(512 - i_present_position) > 10)
+  while (abs(4000 - i_present_position) > 10)
   {
     f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
     i_present_position = dxl.getPresentPosition(DXL_ID);
diff --git a/src/utility/port_handler.cpp b/src/utility/port_handler.cpp
@@ -39,6 +39,7 @@ void SerialPortHandler::begin(unsigned long baud)
   if(port_ == Serial1 && getOpenState() == false){
     pinMode(BDPIN_DXL_PWR_EN, OUTPUT);
     digitalWrite(BDPIN_DXL_PWR_EN, HIGH);
+    delay(300); // Wait for the FET to turn on.
   }
 #elif defined(ARDUINO_OpenCR)
   if(port_ == Serial3 && getOpenState() == false){

Original file line number	Diff line number	Diff line change
`@@ -93,7 +93,7 @@ void loop() {`
`93`	`93`	`int i_present_position = 0;`
`94`	`94`	`float f_present_position = 0.0;`
`95`	`95`
`96`		`- while (abs(512 - i_present_position) > 10)`
	`96`	`+ while (abs(4000 - i_present_position) > 10)`
`97`	`97`	`{`
`98`	`98`	`f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);`
`99`	`99`	`i_present_position = dxl.getPresentPosition(DXL_ID);`
Original file line number	Diff line number	Diff line change
`@@ -39,6 +39,7 @@ void SerialPortHandler::begin(unsigned long baud)`
`39`	`39`	`if(port_ == Serial1 && getOpenState() == false){`
`40`	`40`	`pinMode(BDPIN_DXL_PWR_EN, OUTPUT);`
`41`	`41`	`digitalWrite(BDPIN_DXL_PWR_EN, HIGH);`
	`42`	`+ delay(300); // Wait for the FET to turn on.`
`42`	`43`	`}`
`43`	`44`	`#elif defined(ARDUINO_OpenCR)`
`44`	`45`	`if(port_ == Serial3 && getOpenState() == false){`