Updated to version 2 of the dynamixel protocol.

Updated to the new version of the dynamixel library.

src/battery_charger.cpp

@@ -6,11 +6,11 @@
 
 CBattery_Charger::CBattery_Charger(std::string& battery_id,unsigned char bus_id,int baudrate,unsigned char dev_id)
 {
-  this->dyn_server=CDynamixelServer::instance();
+  this->dyn_server=CDynamixelServerFTDI::instance();
   this->dyn_device=NULL;
   try{
     this->dyn_server->config_bus(bus_id,baudrate);
-    this->dyn_device=this->dyn_server->get_device(dev_id);
+    this->dyn_device=this->dyn_server->get_device(dev_id,dyn_version2);
     this->battery_id=battery_id;
   }catch(CException &e){
     /* handle exceptions */
@@ -23,11 +23,11 @@ CBattery_Charger::CBattery_Charger(std::string& battery_id,unsigned char bus_id,
 
 CBattery_Charger::CBattery_Charger(std::string& battery_id,std::string& bus_id,int baudrate,unsigned char dev_id)
 {
-  this->dyn_server=CDynamixelServer::instance();
+  this->dyn_server=CDynamixelServerFTDI::instance();
   this->dyn_device=NULL;
   try{
     this->dyn_server->config_bus(bus_id,baudrate);
-    this->dyn_device=this->dyn_server->get_device(dev_id);
+    this->dyn_device=this->dyn_server->get_device(dev_id,dyn_version2);
     this->battery_id=battery_id;
   }catch(CException &e){
     /* handle exceptions */

src/battery_charger.h

 #ifndef _BATTERY_CHARGER_H
 #define _BATTERY_CHARGER_H
 
-#include "dynamixelserver.h"
+#include "dynamixelserver_ftdi.h"
 #include "dynamixel.h"
 #include "threadserver.h"
 #include "eventserver.h"
@@ -38,7 +38,7 @@ class CBattery_Charger
 {
   private:
     std::string battery_id;
-    CDynamixelServer *dyn_server;
+    CDynamixelServerFTDI *dyn_server;
     CDynamixel *dyn_device;
   protected:
     void check_model(void);

src/examples/battery_charger_test.cpp

@@ -14,7 +14,7 @@ int main(int argc, char *argv[])
   int i=0;
   
   try{
-    CBattery_Charger battery(battery_name,battery_serial,57600,0xC0);
+    CBattery_Charger battery(battery_name,battery_serial,1000000,0xC0);
     battery.get_buzzer_config(&buzzer);
     std::cout << "Buzzer frequency: " << buzzer.freq_hz << " Hz" << std::endl; 
     std::cout << "Buzzer time on: " << buzzer.time_on_s << " s" << std::endl;