Modified the slave example to simulate an RX28 Servo.

src/examples/test_dynamixel_slave.cpp

@@ -3,6 +3,16 @@
 #include <iostream>
 #include <boost/bind.hpp>
 
+#define SERVO_MEMORY_SIZE     50
+ 
+unsigned char rx28_servo_data[SERVO_MEMORY_SIZE]={0x1c,0x00,0x00,0x01,0x22,0xFA,0x00,0x00,
+                                                  0xFF,0x03,0x00,0x50,0x3C,0xBE,0xFF,0x03,
+                                                  0x02,0x24,0x24,0x00,0x00,0x00,0x00,0x00,
+                                                  0x00,0x00,0x01,0x01,0x20,0x20,0x00,0x00,
+                                                  0x00,0x00,0xFF,0x03,0x00,0x00,0x00,0x00,
+                                                  0x00,0x00,0x78,0x19,0x00,0x00,0x00,0x00,
+                                                  0x20,0x00};
+
 std::string serial="A400gavm";
 
 void on_ping(void)
@@ -12,7 +22,11 @@ void on_ping(void)
 
 unsigned char on_read(unsigned short int address, unsigned short int length, unsigned char *data)
 {
+  unsigned char num;
+
   std::cout << "read operation at address " << address << " with length " << length << std::endl;
+  for(unsigned int i=address,num=0;i<address+length || i<SERVO_MEMORY_SIZE;i++,num++)
+    data[num]=rx28_servo_data[i];
 
   return 0x00;
 }
@@ -21,6 +35,9 @@ unsigned char on_write(unsigned short int address, unsigned short int length, un
 {
   std::cout << "wrirte operation at address " << address << " with length " << length << std::endl;
 
+  for(unsigned int i=address,num=0;i<address+length || i<SERVO_MEMORY_SIZE;i++,num++)
+    rx28_servo_data[i]=data[num];
+
   return 0x00;
 }