Added the enable and disable power functions for the second dynamixel bus.

src/cm730_fw.c

@@ -7,6 +7,7 @@
 #include "darwin_time.h"
 #include "darwin_dyn_slave.h"
 #include "darwin_dyn_master.h"
+#include "darwin_dyn_master_v2.h"
 #include "motion_manager.h"
 #include "action.h"
 #include "action_id.h"

src/darwin_dyn_master_v2.c

@@ -83,6 +83,7 @@ void darwin_dyn_master_v2_init(void)
   /* configure dynamixel master module */
   dyn_master_set_rx_timeout(&darwin_dyn_master_v2,50);
   dyn_master_set_return_level(&darwin_dyn_master_v2,return_all);
+  darwin_dyn_master_v2_disable_power();
 }
 
 inline void darwin_dyn_master_v2_enable_power(void)

src/motion_manager.c

@@ -365,6 +365,7 @@ void manager_init(uint16_t period_us)
     
   darwin_dyn_master_disable_power();
 
+  darwin_dyn_master_v2_enable_power();
   // detect the servos connected on the v2 bus
   dyn_master_scan(&darwin_dyn_master_v2,&num,servo_ids); 
   ram_data[DARWIN_MM_NUM_SERVOS]+=num;
@@ -425,7 +426,8 @@ void manager_init(uint16_t period_us)
       default: break;
     }
   }
-  
+
+  darwin_dyn_master_v2_disable_power();
   
   ram_data[DARWIN_MM_PRESENT_SERVOS1]=(present_servos&0x000000FF);
   ram_data[DARWIN_MM_PRESENT_SERVOS2]=((present_servos&0x0000FF00)>>8);