prework for release

Signed-off-by: Will Son <[email protected]>

Author: ROBOTIS-Will

README.md

@@ -1,15 +1,15 @@
-# Dynamixel2Arduino [![Build Status](https://travis-ci.org/ROBOTIS-GIT/Dynamixel2Arduino.svg?branch=master)](https://travis-ci.org/ROBOTIS-GIT/Dynamixel2Arduino/branches)
+# DYNAMIXEL2Arduino [![Build Status](https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/workflows/dynamixel2arduino_ci/badge.svg)](https://github.com/ROBOTIS-GIT/Dynamixel2Arduino)
 
-## Serial and Direction Pin definitions by board
- - The examples defines GPIO pins based on the use with DYNAMIXEL Shields.
+## Serial and Direction Pin definitions of ROBOTIS controllers
  - When running DYNAMIXEL without DYNAMIXEL Shields on OpenCM9.04, OpenCR or custom boards, you might need to change the Serial and DYNAMIXEL Direction Pin.
  - We provide the information below to make it easier to define Serial and Direction pins for specific hardware.
 
     |Board Name|Serial|Direction Pin|Note|
     |:-:|:-:|:-:|:-:|
-    |OpenCM9.04|Serial1|28|because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.|
+    |OpenCM9.04|Serial1|28|Uploading Arduino Sketch will erase the factory firmware. The firmware can be recovered with DYNAMIXEL Wizard 2.0|
     |OpenCM485EXP|Serial3|22||
-    |OpenCR|Serial3|84|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))|
+    |OpenCR|Serial3|84|OpenCR has an FET switch to control power supply to DYNAMIXEL. ([Reference link](https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78))|
+    |OpenRB-150|Serial1|(-1)Automatic|-|
 
 
 ## How to add new DYNAMIXEL model.
@@ -19,6 +19,3 @@
 ## How to create custom PortHandler Class
  - Please refer to [port_handler.h](https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/blob/master/src/utility/port_handler.h)
  - Create a new class by inheriting PortHandler as public. (Like SerialPortHandler and USBSerialPortHandler)
-
-## TODO
- - Separation of protocol codes (protocol, packet handler)

examples/advanced/indirect_address/indirect_address.ino

@@ -1,4 +1,4 @@
-// Copyright 2021 ROBOTIS CO., LTD.
+// Copyright 2022 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.
@@ -30,29 +30,34 @@
   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 DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #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. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using 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
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 

install.sh

@@ -10,7 +10,7 @@ fi
 # this will be eval'd in the functions below because arrays can't be exported
 # For creating a new main platform, please refer to https://arduino.github.io/arduino-cli/latest/platform-specification/#hardware-folders-structure
 # and https://arduino.github.io/arduino-cli/latest/platform-specification/#boardstxt
-export MAIN_PLATFORMS='declare -A main_platforms=([uno]="arduino:avr:uno" [mega2560]="arduino:avr:mega:cpu=atmega2560" [leonardo]="arduino:avr:leonardo" [due]="arduino:sam:arduino_due_x" [zero]="arduino:samd:arduino_zero_native" [mzero]="arduino:samd:mzero_bl" [mzeropro]="arduino:samd:mzero_pro_bl" [mkrzero]="arduino:samd:mkrzero" [mkr1000]="arduino:samd:mkr1000" [mkrwifi1010]="arduino:samd:mkrwifi1010" [opencr]="OpenCR:OpenCR:OpenCR" [portenta]="arduino:mbed_portenta:envie_m7")'
+export MAIN_PLATFORMS='declare -A main_platforms=([uno]="arduino:avr:uno" [mega2560]="arduino:avr:mega:cpu=atmega2560" [leonardo]="arduino:avr:leonardo" [due]="arduino:sam:arduino_due_x" [zero]="arduino:samd:arduino_zero_native" [mzero]="arduino:samd:mzero_bl" [mzeropro]="arduino:samd:mzero_pro_bl" [mkrzero]="arduino:samd:mkrzero" [mkr1000]="arduino:samd:mkr1000" [mkrwifi1010]="arduino:samd:mkrwifi1010" [opencr]="OpenCR:OpenCR:OpenCR" [openrb-150]="OpenRB-150:samd:OpenRB-150" [portenta]="arduino:mbed_portenta:envie_m7")'
 
 # make display available for arduino CLI
 /sbin/start-stop-daemon --start --quiet --pidfile /tmp/custom_xvfb_1.pid --make-pidfile --background --exec /usr/bin/Xvfb -- :1 -ac -screen 0 1280x1024x16
@@ -38,14 +38,18 @@ sudo apt-get update
 sudo apt-get install libc6:i386
 
 echo -n "ADD PACKAGE INDEX: "
-DEPENDENCY_OUTPUT=$(arduino --pref "boardsmanager.additional.urls=https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json,https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCM9.04/master/arduino/opencm_release/package_opencm9.04_index.json,https://github.com/espressif/arduino-esp32/releases/download/1.0.1/package_esp32_index.json" --save-prefs 2>&1)
+DEPENDENCY_OUTPUT=$(arduino --pref "boardsmanager.additional.urls=https://github.com/espressif/arduino-esp32/releases/download/1.0.1/package_esp32_index.json" --save-prefs 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
 # install other board packages
-echo -n "ADD OpenCR PACKAGE INDEX: "
-DEPENDENCY_OUTPUT=$(arduino --pref "boardsmanager.additional.urls=https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json" --save-prefs 2>&1)
+echo -n "ADD OpenRB-150 PACKAGE INDEX: "
+DEPENDENCY_OUTPUT=$(arduino --pref "boardsmanager.additional.urls=https://raw.githubusercontent.com/ROBOTIS-GIT/OpenRB-150/master/package_openrb_index.json" --save-prefs 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
+# echo -n "ADD OpenCR PACKAGE INDEX: "
+# DEPENDENCY_OUTPUT=$(arduino --pref "boardsmanager.additional.urls=https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json" --save-prefs 2>&1)
+# if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
+
 echo -n "INSTALL DUE(sam): "
 DEPENDENCY_OUTPUT=$(arduino --install-boards arduino:sam 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
@@ -58,8 +62,12 @@ echo -n "INSTALL Portenta H7: "
 DEPENDENCY_OUTPUT=$(arduino --install-boards arduino:mbed_portenta 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
-echo -n "INSTALL OpenCR: "
-DEPENDENCY_OUTPUT=$(arduino --install-boards OpenCR:OpenCR 2>&1)
+# echo -n "INSTALL OpenCR: "
+# DEPENDENCY_OUTPUT=$(arduino --install-boards OpenCR:OpenCR 2>&1)
+# if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
+
+echo -n "INSTALL OpenRB-150: "
+DEPENDENCY_OUTPUT=$(arduino --install-boards OpenRB-150:samd 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
 # install random lib so the arduino IDE grabs a new library index

library.properties

@@ -1,5 +1,5 @@
 name=Dynamixel2Arduino
-version=0.5.3
+version=0.6.0
 author=ROBOTIS
 license=Apache-2.0
 maintainer=Will Son([email protected])