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