From 86447a28a7218df2eb230eec75aea61b14621927 Mon Sep 17 00:00:00 2001 From: ferranmafe <darwin@darwin.users.iri.prv> Date: Thu, 31 Aug 2017 20:52:53 +0200 Subject: [PATCH] Added the functions to enable/disable power on the second dynamixel bus. --- darwin_driver/src/darwin_driver.cpp | 3 +++ 1 file changed, 3 insertions(+) diff --git a/darwin_driver/src/darwin_driver.cpp b/darwin_driver/src/darwin_driver.cpp index 43fe7ee..ac13f5e 100644 --- a/darwin_driver/src/darwin_driver.cpp +++ b/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; -- GitLab