From 746f8eef121243953d8bc2250bc5037ad64f1b41 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Thu, 25 Jul 2019 08:30:07 +0200
Subject: [PATCH] Added functions to start and stop the dynamixel slave module.
---
dynamixel_base/include/dynamixel_slave.h | 11 ++++++++++-
dynamixel_base/src/dynamixel_slave.c | 10 ++++++++++
2 files changed, 20 insertions(+), 1 deletion(-)
diff --git a/dynamixel_base/include/dynamixel_slave.h b/dynamixel_base/include/dynamixel_slave.h
index cac4d0b..64f8d75 100644
--- a/dynamixel_base/include/dynamixel_slave.h
+++ b/dynamixel_base/include/dynamixel_slave.h
@@ -133,6 +133,15 @@ inline void dyn_slave_set_rx_timeout(TDynamixelSlave *slave,unsigned short int t
*
*/
inline TDynVersion dyn_slave_get_version(TDynamixelSlave *slave);
-
+/**
+ * \brief
+ *
+ */
+void dyn_slave_start(TDynamixelSlave *slave);
+/**
+ * \brief
+ *
+ */
+void dyn_slave_stop(TDynamixelSlave *slave);
#endif
diff --git a/dynamixel_base/src/dynamixel_slave.c b/dynamixel_base/src/dynamixel_slave.c
index 77232d7..6afdbe8 100644
--- a/dynamixel_base/src/dynamixel_slave.c
+++ b/dynamixel_base/src/dynamixel_slave.c
@@ -270,3 +270,13 @@ TDynVersion dyn_slave_get_version(TDynamixelSlave *slave)
return DYN_VER1;
}
+void dyn_slave_start(TDynamixelSlave *slave)
+{
+ scheduler_enable_channel(slave->scheduler,slave->sch_channel);
+}
+
+void dyn_slave_stop(TDynamixelSlave *slave)
+{
+ scheduler_disable_channel(slave->scheduler,slave->sch_channel);
+}
+
--
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