From f13f350cb57444da24004d5ed7a004b863a7677d Mon Sep 17 00:00:00 2001
From: Sergi Hernandez Juan <shernand@iri.upc.edu>
Date: Sat, 18 Jan 2020 21:11:21 +0100
Subject: [PATCH] Made public the start() and stop() functions.
---
src/dynamixel_slave.cpp | 4 +---
src/dynamixel_slave.h | 20 ++++++++++----------
2 files changed, 11 insertions(+), 13 deletions(-)
diff --git a/src/dynamixel_slave.cpp b/src/dynamixel_slave.cpp
index 0abe3da..c836c10 100644
--- a/src/dynamixel_slave.cpp
+++ b/src/dynamixel_slave.cpp
@@ -236,9 +236,7 @@ void CDynamixelSlave::dynamixel_loop_v1(void)
if(id!=0xFE)
this->send_status_packet(this->slaves[i].id,dyn_no_error,0,NULL);
break;
- case dyn_read: std::cout << "length: " << this->get_read_length(data) << std::endl;
- std::cout << "address: " << this->get_read_address(data) << std::endl;
- error=this->slaves[i].on_read(this->get_read_address(data),this->get_read_length(data),read_data);
+ case dyn_read: error=this->slaves[i].on_read(this->get_read_address(data),this->get_read_length(data),read_data);
if(this->return_level!=no_return && id!=0xFE)
{
if(error==dyn_no_error)
diff --git a/src/dynamixel_slave.h b/src/dynamixel_slave.h
index 68c580e..669b1be 100644
--- a/src/dynamixel_slave.h
+++ b/src/dynamixel_slave.h
@@ -132,16 +132,6 @@ class CDynamixelSlave
*
*/
void send_status_packet(unsigned char id,unsigned char error, unsigned short int length, unsigned char *data);
- /**
- * \brief
- *
- */
- void start(void);
- /**
- * \brief
- *
- */
- void stop(void);
/**
* \brief
*
@@ -297,6 +287,16 @@ class CDynamixelSlave
*
*/
void get_return_level(return_level_t level);
+ /**
+ * \brief
+ *
+ */
+ void start(void);
+ /**
+ * \brief
+ *
+ */
+ void stop(void);
/**
* \brief
*
--
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