From dd00f1caade934a4b067fcf6cc2b7f21fc28985c Mon Sep 17 00:00:00 2001
From: =?UTF-8?q?Sergi=20Hern=C3=A1ndez?= <shernand@iri.upc.edu>
Date: Mon, 17 Aug 2015 18:41:01 +0000
Subject: [PATCH] Implemented the scan function for the dynamixel master
module.
---
dynamixel_base/src/dynamixel_master.c | 10 ++++++++++
1 file changed, 10 insertions(+)
diff --git a/dynamixel_base/src/dynamixel_master.c b/dynamixel_base/src/dynamixel_master.c
index 7295fe5..0d38df5 100644
--- a/dynamixel_base/src/dynamixel_master.c
+++ b/dynamixel_base/src/dynamixel_master.c
@@ -181,7 +181,17 @@ inline return_level_t dyn_master_get_return_level(TDynamixelMaster *master)
void dyn_master_scan(TDynamixelMaster *master,unsigned char *num,unsigned char *ids)
{
+ unsigned char i;
+ *num=0;
+ for(i=0;i<254;i++)
+ {
+ if(dyn_master_ping(master,i)==DYN_SUCCESS)// the device exists
+ {
+ ids[*num]=i;
+ (*num)++;
+ }
+ }
}
unsigned char dyn_master_ping(TDynamixelMaster *master,unsigned char id)
--
GitLab