From ce121c6b7bc9ea8ec7b0150fba2bf20d5d67fb27 Mon Sep 17 00:00:00 2001
From: yujiro-miyabayashi <yujiro-miyabayashi@phiaro.jp>
Date: Fri, 21 Jul 2023 09:44:28 +0900
Subject: [PATCH 1/3] add api getHardwareError

---
 src/Dynamixel2Arduino.cpp | 5 +++++
 src/Dynamixel2Arduino.h   | 3 +--
 2 files changed, 6 insertions(+), 2 deletions(-)

diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp
index dc53fdf..b910e12 100644
--- a/src/Dynamixel2Arduino.cpp
+++ b/src/Dynamixel2Arduino.cpp
@@ -886,7 +886,12 @@ bool Dynamixel2Arduino::writeControlTableItem(uint8_t item_idx, uint8_t id, int3
   return ret;
 }
 
+uint8_t Dynamixel2Arduino::getHardwareError(uint8_t id)
+{
+    int32_t ret = readControlTableItem(ControlTableItem::HARDWARE_ERROR_STATUS, id);
 
+    return (uint8_t)ret;
+}
 
 
 /* Private Member Function */
diff --git a/src/Dynamixel2Arduino.h b/src/Dynamixel2Arduino.h
index 29a6b52..8f79add 100644
--- a/src/Dynamixel2Arduino.h
+++ b/src/Dynamixel2Arduino.h
@@ -425,6 +425,7 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
     bool writeControlTableItem(uint8_t item_idx, 
       uint8_t id, int32_t data, uint32_t timeout = 100);
 
+    uint8_t getHardwareError(uint8_t id);
 
 #if 0 //TODO
     bool setDirectionToNormal(uint8_t id);
@@ -441,8 +442,6 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
     bool setPositionPIDGain(uint8_t id, uint16_t p_gain, uint16_t i_gain, uint16_t d_gain);
     bool setVelocityPIGain(uint8_t id, uint16_t p_gain, uint16_t i_gain);
     bool setFeedForwardGain(uint8_t id, uint16_t fisrt_gain, uint16_t second_gain);
-
-    uint8_t getHardwareError(uint8_t id);
     
     // https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/issues/73
     uint8_t getOperatingMode(uint8_t id);

From 738cb8c939f8f846e9f5ce53ea5607bc9a9ce544 Mon Sep 17 00:00:00 2001
From: yujiro-miyabayashi <yujiro-miyabayashi@phiaro.jp>
Date: Fri, 21 Jul 2023 09:47:46 +0900
Subject: [PATCH 2/3] add api  setDirection for Drive Move

---
 src/Dynamixel2Arduino.cpp | 21 +++++++++++++++++++++
 src/Dynamixel2Arduino.h   |  4 ++--
 2 files changed, 23 insertions(+), 2 deletions(-)

diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp
index b910e12..b6352d0 100644
--- a/src/Dynamixel2Arduino.cpp
+++ b/src/Dynamixel2Arduino.cpp
@@ -225,6 +225,27 @@ bool Dynamixel2Arduino::setID(uint8_t id, uint8_t new_id)
   return writeControlTableItem(ControlTableItem::ID, id, new_id);
 }
 
+bool Dynamixel2Arduino::setDirectionToNormal(uint8_t id){
+
+  return writeControlTableItem(ControlTableItem::DRIVE_MODE, id, 0x00);
+}
+bool Dynamixel2Arduino::setDirectionToReverse(uint8_t id){
+
+  return writeControlTableItem(ControlTableItem::DRIVE_MODE, id, 0x01);
+
+}
+bool Dynamixel2Arduino::setDirection(uint8_t id, bool dir){
+  
+  bool ret = false;
+  if(dir){
+    ret = setDirectionToNormal(id);
+  }else{
+    ret = setDirectionToReverse(id);
+  }
+  return ret;
+}
+
+
 bool Dynamixel2Arduino::setProtocol(uint8_t id, float version)
 {
   uint8_t ver_idx;
diff --git a/src/Dynamixel2Arduino.h b/src/Dynamixel2Arduino.h
index 8f79add..b79219b 100644
--- a/src/Dynamixel2Arduino.h
+++ b/src/Dynamixel2Arduino.h
@@ -426,12 +426,12 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
       uint8_t id, int32_t data, uint32_t timeout = 100);
 
     uint8_t getHardwareError(uint8_t id);
-
-#if 0 //TODO
     bool setDirectionToNormal(uint8_t id);
     bool setDirectionToReverse(uint8_t id);
     bool setDirection(uint8_t id, bool dir);
 
+#if 0 //TODO
+
     bool setProfileBase(uint8_t id, uint8_t base);
     bool setProfileToVelocityBased(uint8_t id);
     bool setProfileToTimeBased(uint8_t id);

From 8c3b5e1ae82de74c0130871aa6c3e0d0bc9bedd7 Mon Sep 17 00:00:00 2001
From: miyabayashi <yujiro-miyabayashi@phiaro.jp>
Date: Fri, 4 Aug 2023 16:09:21 +0900
Subject: [PATCH 3/3] add trque on flag

---
 src/Dynamixel2Arduino.cpp | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp
index b6352d0..7e0625e 100644
--- a/src/Dynamixel2Arduino.cpp
+++ b/src/Dynamixel2Arduino.cpp
@@ -227,11 +227,11 @@ bool Dynamixel2Arduino::setID(uint8_t id, uint8_t new_id)
 
 bool Dynamixel2Arduino::setDirectionToNormal(uint8_t id){
 
-  return writeControlTableItem(ControlTableItem::DRIVE_MODE, id, 0x00);
+  return writeControlTableItem(ControlTableItem::DRIVE_MODE, id, 0x80);
 }
 bool Dynamixel2Arduino::setDirectionToReverse(uint8_t id){
 
-  return writeControlTableItem(ControlTableItem::DRIVE_MODE, id, 0x01);
+  return writeControlTableItem(ControlTableItem::DRIVE_MODE, id, 0x81);
 
 }
 bool Dynamixel2Arduino::setDirection(uint8_t id, bool dir){