Added a function to get the internal slave device memory module.

dynamixel_base/include/dynamixel_slave_device.h

@@ -154,6 +154,10 @@ unsigned char dyn_v1_slave_loop(TDynamixelSlaveDevice *device,unsigned char *rx_
  *
  */
 unsigned char dyn_v2_slave_loop(TDynamixelSlaveDevice *device,unsigned char *rx_buffer,unsigned char *error,unsigned short int *length, unsigned char *data);
-
+/**
+ * \brief
+ *
+ */
+inline TMemory *dyn_slave_device_get_memory(TDynamixelSlaveDevice *device);
 
 #endif

dynamixel_base/src/dynamixel_slave_device.c

@@ -448,3 +448,8 @@ return_level_t dyn_slave_device_get_return_level(TDynamixelSlaveDevice *device)
   else
     return return_all;
 }
+
+TMemory *dyn_slave_device_get_memory(TDynamixelSlaveDevice *device)
+{
+  return &device->memory;
+}