From b0b0ea69d1324c11cfa27b45861d232aaf1d1fce Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Mon, 18 Jan 2016 19:33:29 +0000
Subject: [PATCH] Implemented the dyn2_get_read_status_id function of the
dynamixel master interface.
---
dynamixel_base/src/dynamixel2.c | 5 +++++
dynamixel_base/src/dynamixel_slave.c | 8 ++++----
2 files changed, 9 insertions(+), 4 deletions(-)
diff --git a/dynamixel_base/src/dynamixel2.c b/dynamixel_base/src/dynamixel2.c
index 1a7612e..72748ef 100644
--- a/dynamixel_base/src/dynamixel2.c
+++ b/dynamixel_base/src/dynamixel2.c
@@ -484,3 +484,8 @@ unsigned short int dyn2_get_read_status_data(unsigned char *packet,unsigned char
return length;
}
+
+inline unsigned char dyn2_get_read_status_id(unsigned char *packet)
+{
+ return packet[DYN2_ID_OFF];
+}
diff --git a/dynamixel_base/src/dynamixel_slave.c b/dynamixel_base/src/dynamixel_slave.c
index 5c3026a..269316c 100644
--- a/dynamixel_base/src/dynamixel_slave.c
+++ b/dynamixel_base/src/dynamixel_slave.c
@@ -113,22 +113,22 @@ void dummy_dyn_slave_on_ping(void)
unsigned char dummy_dyn_slave_on_read(unsigned short int address,unsigned short int length,unsigned char *data)
{
- return 0x00;
+ return DYN_SUCCESS;
}
unsigned char dummy_dyn_slave_on_write(unsigned short int address,unsigned short int length,unsigned char *data)
{
- return 0x00;
+ return DYN_SUCCESS;
}
unsigned char dummy_dyn_slave_on_reset(void)
{
- return 0x00;
+ return DYN_SUCCESS;
}
unsigned char dummy_dyn_slave_on_relay(TDynVersion version,unsigned char *inst_pkt,unsigned char *status_pkt)
{
- return 0x00;
+ return DYN_NO_DEVICE;
}
--
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