Solved some minor bugs in the master and slave interfaces.

dynamixel_base/src/dynamixel_master.c

@@ -184,7 +184,7 @@ unsigned char dyn_master_wait_reception(TDynamixelMaster *master)
   }
   else
   {
-    if(dyn2_check_checksum(master->rx_buffer)==0xFF)
+    if(dyn2_check_checksum(master->rx_buffer)==0x01)
       return dyn2_get_status_error(master->rx_buffer);
     else
       return DYN_CHECKSUM_ERROR;

dynamixel_base/src/dynamixel_slave.c

@@ -265,7 +265,7 @@ void dyn_v1_slave_loop(TDynamixelSlave *slave)
     }
     else// the packet is addressed to another device, so relay it
     {
-      if(slave->on_relay(slave->version,slave->rx_buffer,slave->tx_buffer))
+      if(slave->on_relay(slave->version,slave->rx_buffer,slave->tx_buffer)==DYN_SUCCESS)
       {
         // set the tx mode, if necessary
         slave->set_tx_mode();
@@ -414,12 +414,12 @@ void dyn_v2_slave_loop(TDynamixelSlave *slave)
     }
     else// the packet is addressed to another device, so relay it
     {
-      if(slave->on_relay(slave->version,slave->rx_buffer,slave->tx_buffer))
+      if(slave->on_relay(slave->version,slave->rx_buffer,slave->tx_buffer)==DYN_SUCCESS)
       {
         // set the tx mode, if necessary
         slave->set_tx_mode();
         // start transmission by DMA
-        comm_send_dma(slave->comm_dev,slave->tx_buffer,dyn_get_length(slave->tx_buffer)+8);
+        comm_send_dma(slave->comm_dev,slave->tx_buffer,dyn2_get_length(slave->tx_buffer)+8);
       }
     }
   }