Added the functions to enable/disable power on the second dynamixel bus.

darwin_driver/src/darwin_driver.cpp

@@ -69,6 +69,7 @@ bool DarwinDriver::startDriver(void)
     ROS_INFO_STREAM("Found " << num_servos << " servos ");
     // enable all servos and assign them to the action module
     this->darwin->mm_enable_power();
+    this->darwin->mm_enable_power_v2();
     for(i=0;i<MAX_NUM_SERVOS;i++)
     {
       if(present_servos&(0x00000001<<i)) 
@@ -125,6 +126,7 @@ bool DarwinDriver::startDriver(void)
     {
       this->darwin->mm_stop();
       this->darwin->mm_disable_power();
+      this->darwin->mm_disable_power_v2();
     }
     return false;
   }
@@ -143,6 +145,7 @@ bool DarwinDriver::stopDriver(void)
     {
       this->darwin->mm_stop();
       this->darwin->mm_disable_power();
+      this->darwin->mm_disable_power_v2();
     }
  
     return true;