********************************** README FILE ***************************************
Contact: Savage Electronics - Electronics For Everyone
Autor: Josue Alejandro Savage
E-mail: savageelectronics@gmail.com
Web: http://savageelectrtonics.blogspot.com/
Version: Dynamixel Library 15/01/2012 GPL v2.1
Dynamixel Serial Version 1.2.0
Requeriments:
Arduino IDE Version 1.0
Wiring IDE 0100
Installation:
Copy the files to your IDE libraries folder.
examples:
In the Program:
Copy "DynamixelSerial" folder to Arduino/Contents/Resources/Java/libraries.
or
In the SketchBook:
Copy "DynamixelSerial" folder to Arduino/libraries.
License:
Dynamixel Half Duplex USART Comunication
Copyright (c) 2011 Savage Electronics.
Created by Savage on 27/01/11.
This library is free software; you can redistribute it and/or
modify it under the terms of the GNU Lesser General Public
License as published by the Free Software Foundation; either
version 2.1 of the License, or (at your option) any later version.
This library is distributed in the hope that it will be useful,
but WITHOUT ANY WARRANTY; without even the implied warranty of
MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
Lesser General Public License for more details.
You should have received a copy of the GNU Lesser General Public
License along with this library; if not, write to the Free Software
Foundation, Inc., 51 Franklin St, Fifth Floor, Boston, MA 02110-1301 USA
ChangeLog:
25/07/2011 - Eliminado la modificacion serial para ser modificada dentro del mismo Hardware Serial.
25/07/2011 - Modificado la funcion setBD() para aceptar todas la velocidades sin PDF.
25/07/2011 - Agregada la funcion de Rotacion Continua.
26/07/2011 - Agregada la funcion begin sin seteo de Direction_Pin.
25/07/2011 - Agregada la funcion Reset.
26/07/2011 - Agregada la funcion Reg_Write en move y moveSpeed.
26/07/2011 - Agregada la funcion Action.
13/12/2011 - Arreglado el manejo y envio de variables.
22/12/2011 - Compatible con la actualizacion Arduino 1.0.
10/01/2012 - Utilizacion de Macros y eliminacion codigo no necesario.
11/01/2012 - Agregadas las funciones:
int setTempLimit(unsigned char ID, unsigned char Temperature);
int setAngleLimit(unsigned char ID, int CWLimit, int CCWLimit);
int setVoltageLimit(unsigned char ID, unsigned char DVoltage, unsigned char UVoltage);
int setMaxTorque(unsigned char ID, int MaxTorque);
int setSRL(unsigned char ID, unsigned char SRL);
int setRDT(unsigned char ID, unsigned char RDT);
int setLEDAlarm(unsigned char ID, unsigned char LEDAlarm);
int setShutdownAlarm(unsigned char ID, unsigned char SALARM);
int setCMargin(unsigned char ID, unsigned char CWCMargin, unsigned char CCWCMargin);
int setCSlope(unsigned char ID, unsigned char CWCSlope, unsigned char CCWCSlope);
15/01/2012 - Agregadas las funciones:
int setPunch(unsigned char ID, int Punch);
int moving(unsigned char ID);
int lockRegister(unsigned char ID);
int RWStatus(unsigned char ID);
int readSpeed(unsigned char ID);
int readLoad(unsigned char ID);
TODO:
FUNCION SYNCWRITE.
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