From 9158238071504e177cfd378d7ac5e35f4ca71180 Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Mon, 20 Jan 2020 21:49:11 +0100
Subject: [PATCH] Saved the reference to the external memory module in the
dynamixel manager module.
---
dynamixel_manager/src/dyn_manager.c | 21 +--------------------
1 file changed, 1 insertion(+), 20 deletions(-)
diff --git a/dynamixel_manager/src/dyn_manager.c b/dynamixel_manager/src/dyn_manager.c
index 73db6b1..696085e 100644
--- a/dynamixel_manager/src/dyn_manager.c
+++ b/dynamixel_manager/src/dyn_manager.c
@@ -298,6 +298,7 @@ unsigned char dyn_manager_init(TDynManager *manager,TMemory *memory,unsigned sho
return 0x00;
manager->eeprom_base_address=eeprom_base_address;
manager->ram_base_address=ram_base_address;
+ manager->memory=memory;
return 0x01;
}
@@ -318,11 +319,6 @@ void dyn_manager_set_period(TDynManager *manager,unsigned short int period_us)
}
}
-unsigned short int dyn_manager_get_period(TDynManager *manager)
-{
- return manager->period_us;
-}
-
void dyn_manager_scan(TDynManager *manager)
{
unsigned char servo_ids[DYN_MANAGER_MAX_NUM_DEVICES];
@@ -373,11 +369,6 @@ void dyn_manager_add_master(TDynManager *manager,TDynamixelMaster *master)
}
}
-unsigned char dyn_manager_get_num_masters(TDynManager *manager)
-{
- return manager->num_masters;
-}
-
TDynamixelMaster *dyn_manager_get_device_master(TDynManager *manager,unsigned char device_id)
{
if(dyn_manager_check_id(manager,device_id)!=0xFF)
@@ -386,11 +377,6 @@ TDynamixelMaster *dyn_manager_get_device_master(TDynManager *manager,unsigned ch
return 0x00000000;
}
-unsigned short int dyn_manager_get_device_model(TDynManager *manager,unsigned char device_id)
-{
- return manager->devices[device_id].model;
-}
-
void dyn_manager_add_module(TDynManager *manager,TDynModule *module)
{
unsigned char i;
@@ -407,11 +393,6 @@ void dyn_manager_add_module(TDynManager *manager,TDynModule *module)
}
}
-unsigned char dyn_manager_get_num_modules(TDynManager *manager)
-{
- return manager->num_modules;
-}
-
void dyn_manager_delete_op(TDynManager *manager,OP_HANDLE *op)
{
unsigned char i;
--
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