Added a configuration function (config_bus()) to set the bus identifier and the baudrate.

The set_bus_id() function has been move to the protected class. 

src/dynamixelserver.cpp

@@ -133,6 +133,14 @@ void *CDynamixelServer::scan_thread(void *param)
   pthread_exit(NULL);
 }
 
+void CDynamixelServer::config_bus(int bus_id, int baudrate)
+{
+  // set the desired bus identifier 
+  this->set_bus_id(bus_id);
+  // set the desired baudrate for the bus
+  this->set_baudrate(baudrate);
+}
+
 int CDynamixelServer::get_num_buses(void)
 {
   CFTDIServer *ftdi_server=CFTDIServer::instance();
@@ -186,8 +194,6 @@ void CDynamixelServer::set_bus_id(int bus_id)
       }
       serial=ftdi_server->get_serial_number(bus_id);
       this->comm_dev=ftdi_server->get_device(serial);
-      // configure the communciation device by default
-      this->set_baudrate(1000000); 
       this->bus_info.bus_id=bus_id;
     }
   } 

src/dynamixelserver.h

@@ -149,6 +149,11 @@ class CDynamixelServer
      *
      */ 
     unsigned char compute_checksum(unsigned char *packet,int len);
+    /**
+     * \brief 
+     *
+     */ 
+    void set_bus_id(int bus_id);
   public:
     /**
      * \brief 
@@ -159,17 +164,22 @@ class CDynamixelServer
      * \brief 
      *
      */ 
-    int get_num_buses(void);
+    void config_bus(int bus_id,int baudrate);
     /**
      * \brief 
      *
      */ 
-    int get_bus_id(void);
+    void set_baudrate(int baudrate);
     /**
      * \brief 
      *
      */ 
-    void set_bus_id(int bus_id);
+    int get_num_buses(void);
+    /**
+     * \brief 
+     *
+     */ 
+    int get_bus_id(void);
     /**
      * \brief 
      *
@@ -215,11 +225,6 @@ class CDynamixelServer
      *
      */ 
     void free_device(int dev_id);
-    /**
-     * \brief 
-     *
-     */ 
-    void set_baudrate(int baudrate);
     /**
      * \brief
      *

src/examples/test_dynamixel_server.cpp

@@ -17,7 +17,7 @@ int main(int argc, char *argv[])
   if(num_buses>0)
   {
     events.push_back(dyn_server->get_scan_done_event_id());
-    dyn_server->set_bus_id(0);
+    dyn_server->config_bus(0,1000000);
     dyn_server->start_scan();
     event_server->wait_first(events);
     num_dev=dyn_server->get_num_devices();
@@ -29,7 +29,7 @@ int main(int argc, char *argv[])
       std::cout << "Device " << i << ": id -> " << devices[i] << std::endl;
     dyn_motor=dyn_server->get_device(devices[0]);
     try{
-      dyn_server->set_bus_id(0);
+      dyn_server->config_bus(0,1000000);
       dyn_server->start_scan();
       event_server->wait_first(events,2000);
     }catch(CException &e){

src/examples/test_dynamixel_server_no_scan.cpp

@@ -13,8 +13,7 @@ int main(int argc, char *argv[])
   std::cout << "Num. buses: " << num_buses << std::endl;
   if(num_buses>0)
   {
-    dyn_server->set_bus_id(0);
-    dyn_server->set_baudrate(1000000);
+    dyn_server->config_bus(0,1000000);
     try{
       dyn_motor=dyn_server->get_device(13);
       std::cout << "device 13 found!!!" << std::endl;