Implemented the write command function.

dynamixel_manager/src/modules/action.c

@@ -8,7 +8,18 @@
 // private functions
 void action_write_cmd(TActionMModule *module,unsigned short int address,unsigned short int length,unsigned char *data)
 {
-  ram_write_table(module->memory,address,length,data);
+  unsigned int ram_offset;
+
+  ram_offset=address-module->ram_base_address;
+  if(ram_in_range(module->ram_base_address+ACTION_MM_CONTROL_OFFSET,address,length))
+  {
+    if(data[ACTION_MM_CONTROL_OFFSET-ram_offset]&ACTION_MM_START)
+      action_start_page(module);
+    if(data[ACTION_MM_CONTROL_OFFSET-ram_offset]&ACTION_MM_STOP)
+      action_stop_page(module);
+  }
+  if(ram_in_range(module->ram_base_address+ACTION_MM_PAGE_OFFSET,address,length))// load the page identifier 
+    action_load_page(module,data[ACTION_MM_PAGE_OFFSET-ram_offset]);
 }
 
 void action_read_cmd(TActionMModule *module,unsigned short int address,unsigned short int length,unsigned char *data)
@@ -202,6 +213,7 @@ void action_finish(TActionMModule *action)
   action->end=0x00;
   // change the internal state 
   action->running=0x00;
+  action->memory->data[action->ram_base_address+ACTION_MM_CONTROL_OFFSET]&=(~ACTION_MM_RUNNING);
 }
 
 void action_set_period(void *module,unsigned short int period_ms)
@@ -508,6 +520,7 @@ unsigned char action_load_page(TActionMModule *action,unsigned char page_id)
     return 0x00;
   if(!pages_check_checksum(&action->next_page))
     return 0x00;
+  action->memory->data[action->ram_base_address+ACTION_MM_PAGE_OFFSET]=page_id;
 
   return 0x01;
 }
@@ -524,6 +537,7 @@ void action_start_page(TActionMModule *action)
   action->current_step_index=-1;
   /* clear the interrupt flag */
   action->running=0x01;
+  action->memory->data[action->ram_base_address+ACTION_MM_CONTROL_OFFSET]|=ACTION_MM_RUNNING;
 }
 
 void action_stop_page(TActionMModule *action)