Merge pull request #38 from ROBOTIS-GIT/develop

merge from develop
ROBOTIS-GIT · Apr 20, 2017 · f88e274 · f88e274
2 parents 6e92cdc + 796aa0c
commit f88e274
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diff --git a/arduino/opencr_arduino/opencr/libraries/OpenCR/examples/09. RC100/RC100/RC100.ino b/arduino/opencr_arduino/opencr/libraries/OpenCR/examples/09. RC100/RC100/RC100.ino
@@ -28,142 +28,136 @@
 * OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 *******************************************************************************/
 
-/* Author: Taehoon Lim (Darby) */
+/* Author: Taehoon Lim (Darby), Ashe Kim */
 
 #include <RC100.h>
-#include <Dynamixel.h>
+#include <DynamixelSDK.h>
 
 #define LEFT_DXL  1
 #define RIGHT_DXL 2
 
+#define BAUDRATE 1000000
+#define DEVICENAME ""
+#define PROTOCOL_VERSION 2.0
+
 #define ADDR_TORQUE_ENABLE 64
 #define ADDR_GOAL_VELOCITY 104
 
+#define LEN_TORQUE_ENABLE 1
+#define LEN_GOAL_VELOCITY 4
+
 #define ON  1
 #define OFF 0
 
 #define VELOCITY 10
 
-RC100 Controller;
-int RcvData = 0;
+dynamixel::PortHandler *portHandler;
+dynamixel::PacketHandler *packetHandler;
+
+dynamixel::GroupSyncWrite *groupSyncWrite;
 
-Dynamixel Dxl;
-int vel[4] = {LEFT_DXL, 0, RIGHT_DXL, 0};
+bool dxl_addparam_result = false;
+int8_t dxl_comm_result = COMM_TX_FAIL;
+uint8_t dxl_error = 0;
+
+int vel[2] = {0, 0};
 int const_vel = 200;
 
-unsigned int cur_time = 0;
-unsigned int pre_time = 0;
-bool experiment = false;
-int dir = 0;
+RC100 Controller;
+int RcvData = 0;
 
-void setup() {
+void setup() 
+{
   Serial.begin(57600);
 
   Controller.begin(1);
 
-  Dxl.begin(3);
-  Dxl.writeByte(LEFT_DXL, ADDR_TORQUE_ENABLE, ON);
-  Dxl.writeByte(RIGHT_DXL, ADDR_TORQUE_ENABLE, ON);
+  portHandler = dynamixel::PortHandler::getPortHandler(DEVICENAME);
+  packetHandler = dynamixel::PacketHandler::getPacketHandler(PROTOCOL_VERSION);
+  groupSyncWrite = new dynamixel::GroupSyncWrite(portHandler, packetHandler, ADDR_GOAL_VELOCITY, LEN_GOAL_VELOCITY);
+
+  portHandler -> openPort();
+  portHandler->setBaudRate(BAUDRATE);
+
+  dxl_comm_result = packetHandler->write1ByteTxRx(portHandler, LEFT_DXL, ADDR_TORQUE_ENABLE, ON, &dxl_error);
+  packetHandler->printTxRxResult(dxl_comm_result);
+
+  dxl_comm_result = packetHandler->write1ByteTxRx(portHandler, RIGHT_DXL, ADDR_TORQUE_ENABLE, ON, &dxl_error);
+  packetHandler->printTxRxResult(dxl_comm_result);
 }
 
-void loop() {
+void loop() 
+{
   if (Controller.available())
   {
     RcvData = Controller.readData();
     Serial.print("RcvData = ");
     Serial.print(RcvData);
     Serial.print(" LEFT_VEL = ");
-    Serial.print(vel[1]);
+    Serial.print(vel[0]);
     Serial.print(" RIGHT_VEL = ");
-    Serial.println(vel[3]);
+    Serial.println(vel[1]);
 
     if (RcvData & RC100_BTN_U)
     {
-      vel[1] += VELOCITY;
-      vel[3] -= VELOCITY;
-
-      Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
+      vel[0] += VELOCITY;
+      vel[1] -= VELOCITY;
     }
     else if (RcvData & RC100_BTN_D)
     {
-      vel[1] -= VELOCITY;
-      vel[3] += VELOCITY;
-
-      Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
+      vel[0] -= VELOCITY;
+      vel[1] += VELOCITY;
     }
     else if (RcvData & RC100_BTN_L)
     {
+      vel[0] -= VELOCITY;
       vel[1] -= VELOCITY;
-      vel[3] -= VELOCITY;
-
-      Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
     }
     else if (RcvData & RC100_BTN_R)
     {
+      vel[0] += VELOCITY;
       vel[1] += VELOCITY;
-      vel[3] += VELOCITY;
-
-      Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
     }
     else if (RcvData & RC100_BTN_1)
     {
-      const_vel += 10;
-
-      Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
-    }
-    else if (RcvData & RC100_BTN_3)
-    {
-      const_vel -= 10;
-
-      Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
+      vel[0] = (const_vel + 10);
+      vel[1] = (const_vel + 10);
     }
     else if (RcvData & RC100_BTN_2)
     {
-      course();
+      vel[0] = (const_vel - 10);
+      vel[1] = (const_vel - 10);
     }
-    else if (RcvData & RC100_BTN_6)
+    else if (RcvData & RC100_BTN_3)
     {
+      vel[0] = -const_vel;
       vel[1] = const_vel;
-      vel[3] = -const_vel;
-
-      Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
+    }
+    else if (RcvData & RC100_BTN_4)
+    {
+      vel[0] = const_vel;
+      vel[1] = -const_vel;
     }
     else if (RcvData & RC100_BTN_5)
     {
+      vel[0] = 0;
       vel[1] = 0;
-      vel[3] = 0;
-
-      Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
     }
+
+    controlMotor( vel[0], vel[1]);
+    return;
   }
 }
 
-void course(void)
+void controlMotor( int64_t left_wheel_value, int64_t right_wheel_value)
 {
-  vel[1] = 200;
-  vel[3] = -200;
-
-  Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
-
-  delay(9000);
-
-  vel[1] = +100;
-  vel[3] = +100;
+  bool dxl_addparam_result;
+  int8_t dxl_comm_result;
 
-  Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
+  dxl_addparam_result = groupSyncWrite->addParam(LEFT_DXL, (uint8_t*)&left_wheel_value);
+  dxl_addparam_result = groupSyncWrite->addParam(RIGHT_DXL, (uint8_t*)&right_wheel_value);
 
-  delay(3300);
+  dxl_comm_result = groupSyncWrite->txPacket();
 
-  vel[1] = 200;
-  vel[3] = -200;
-
-  Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
-
-  delay(9000);
-
-  vel[1] = 0;
-  vel[3] = 0;
-
-  Dxl.syncWrite(ADDR_GOAL_VELOCITY, 1, vel, 4);
+  groupSyncWrite->clearParam();
 }
-
diff --git a/...friends/turtlebot3_bike/turtlebot3_bike.h → ...friends/turtlebot3_bike/turtlebot3_bike.h b/...friends/turtlebot3_bike/turtlebot3_bike.h → ...friends/turtlebot3_bike/turtlebot3_bike.h
diff --git a/...iends/turtlebot3_bike/turtlebot3_bike.ino → ...iends/turtlebot3_bike/turtlebot3_bike.ino b/...iends/turtlebot3_bike/turtlebot3_bike.ino → ...iends/turtlebot3_bike/turtlebot3_bike.ino
diff --git a/...ot3_bike/turtlebot3_bike_motor_driver.cpp → ...ot3_bike/turtlebot3_bike_motor_driver.cpp b/...ot3_bike/turtlebot3_bike_motor_driver.cpp → ...ot3_bike/turtlebot3_bike_motor_driver.cpp
diff --git a/...ebot3_bike/turtlebot3_bike_motor_driver.h → ...ebot3_bike/turtlebot3_bike_motor_driver.h b/...ebot3_bike/turtlebot3_bike_motor_driver.h → ...ebot3_bike/turtlebot3_bike_motor_driver.h
diff --git a/...t_friends/turtlebot3_car/turtlebot3_car.h → ...3_friends/turtlebot3_car/turtlebot3_car.h b/...t_friends/turtlebot3_car/turtlebot3_car.h → ...3_friends/turtlebot3_car/turtlebot3_car.h
diff --git a/...friends/turtlebot3_car/turtlebot3_car.ino → ...friends/turtlebot3_car/turtlebot3_car.ino b/...friends/turtlebot3_car/turtlebot3_car.ino → ...friends/turtlebot3_car/turtlebot3_car.ino
diff --git a/...ebot3_car/turtlebot3_car_motor_driver.cpp → ...ebot3_car/turtlebot3_car_motor_driver.cpp b/...ebot3_car/turtlebot3_car_motor_driver.cpp → ...ebot3_car/turtlebot3_car_motor_driver.cpp
diff --git a/...tlebot3_car/turtlebot3_car_motor_driver.h → ...tlebot3_car/turtlebot3_car_motor_driver.h b/...tlebot3_car/turtlebot3_car_motor_driver.h → ...tlebot3_car/turtlebot3_car_motor_driver.h
diff --git a/.../turtlebot3_ex01_parallel_translation.ino → .../turtlebot3_ex01_parallel_translation.ino b/.../turtlebot3_ex01_parallel_translation.ino → .../turtlebot3_ex01_parallel_translation.ino
diff --git a/...s/turtlebot3_mecanum/turtlebot3_mecanum.h → ...s/turtlebot3_mecanum/turtlebot3_mecanum.h b/...s/turtlebot3_mecanum/turtlebot3_mecanum.h → ...s/turtlebot3_mecanum/turtlebot3_mecanum.h
diff --git a/...turtlebot3_mecanum/turtlebot3_mecanum.ino → ...turtlebot3_mecanum/turtlebot3_mecanum.ino b/...turtlebot3_mecanum/turtlebot3_mecanum.ino → ...turtlebot3_mecanum/turtlebot3_mecanum.ino
diff --git a/...canum/turtlebot3_mecanum_motor_driver.cpp → ...canum/turtlebot3_mecanum_motor_driver.cpp b/...canum/turtlebot3_mecanum_motor_driver.cpp → ...canum/turtlebot3_mecanum_motor_driver.cpp
diff --git a/...mecanum/turtlebot3_mecanum_motor_driver.h → ...mecanum/turtlebot3_mecanum_motor_driver.h b/...mecanum/turtlebot3_mecanum_motor_driver.h → ...mecanum/turtlebot3_mecanum_motor_driver.h
diff --git a/...s/turtlebot3_monster/turtlebot3_monster.h → ...s/turtlebot3_monster/turtlebot3_monster.h b/...s/turtlebot3_monster/turtlebot3_monster.h → ...s/turtlebot3_monster/turtlebot3_monster.h
diff --git a/...turtlebot3_monster/turtlebot3_monster.ino → ...turtlebot3_monster/turtlebot3_monster.ino b/...turtlebot3_monster/turtlebot3_monster.ino → ...turtlebot3_monster/turtlebot3_monster.ino
diff --git a/...nster/turtlebot3_monster_motor_driver.cpp → ...nster/turtlebot3_monster_motor_driver.cpp b/...nster/turtlebot3_monster_motor_driver.cpp → ...nster/turtlebot3_monster_motor_driver.cpp
diff --git a/...monster/turtlebot3_monster_motor_driver.h → ...monster/turtlebot3_monster_motor_driver.h b/...monster/turtlebot3_monster_motor_driver.h → ...monster/turtlebot3_monster_motor_driver.h
diff --git a/...friends/turtlebot3_omni/turtlebot3_omni.h → ...friends/turtlebot3_omni/turtlebot3_omni.h b/...friends/turtlebot3_omni/turtlebot3_omni.h → ...friends/turtlebot3_omni/turtlebot3_omni.h
diff --git a/...iends/turtlebot3_omni/turtlebot3_omni.ino → ...iends/turtlebot3_omni/turtlebot3_omni.ino b/...iends/turtlebot3_omni/turtlebot3_omni.ino → ...iends/turtlebot3_omni/turtlebot3_omni.ino
@@ -93,11 +93,11 @@ void receiveRemoteControl(void)
 
     if (received_data & RC100_BTN_L)
     {
-      linear_y += VELOCITY_LINEAR_Y * SCALE_VELOCITY_LINEAR_Y;
+      linear_y -= VELOCITY_LINEAR_Y * SCALE_VELOCITY_LINEAR_Y;
     }
     else if (received_data & RC100_BTN_R)
     {
-      linear_y -= VELOCITY_LINEAR_Y * SCALE_VELOCITY_LINEAR_Y;
+      linear_y += VELOCITY_LINEAR_Y * SCALE_VELOCITY_LINEAR_Y;
     }
 
     if (received_data & RC100_BTN_1)

diff --git a/...ot3_omni/turtlebot3_omni_motor_driver.cpp → ...ot3_omni/turtlebot3_omni_motor_driver.cpp b/...ot3_omni/turtlebot3_omni_motor_driver.cpp → ...ot3_omni/turtlebot3_omni_motor_driver.cpp
diff --git a/...ebot3_omni/turtlebot3_omni_motor_driver.h → ...ebot3_omni/turtlebot3_omni_motor_driver.h b/...ebot3_omni/turtlebot3_omni_motor_driver.h → ...ebot3_omni/turtlebot3_omni_motor_driver.h
diff --git a/..._realturtlebot/turtlebot3_realturtlebot.h → ..._realturtlebot/turtlebot3_realturtlebot.h b/..._realturtlebot/turtlebot3_realturtlebot.h → ..._realturtlebot/turtlebot3_realturtlebot.h
diff --git a/...ealturtlebot/turtlebot3_realturtlebot.ino → ...ealturtlebot/turtlebot3_realturtlebot.ino b/...ealturtlebot/turtlebot3_realturtlebot.ino → ...ealturtlebot/turtlebot3_realturtlebot.ino
diff --git a/...rtlebot/turtlebot3_realturtlebot_motion.h → ...rtlebot/turtlebot3_realturtlebot_motion.h b/...rtlebot/turtlebot3_realturtlebot_motion.h → ...rtlebot/turtlebot3_realturtlebot_motion.h
diff --git a/...turtlebot3_realturtlebot_motor_driver.cpp → ...turtlebot3_realturtlebot_motor_driver.cpp b/...turtlebot3_realturtlebot_motor_driver.cpp → ...turtlebot3_realturtlebot_motor_driver.cpp
diff --git a/...t/turtlebot3_realturtlebot_motor_driver.h → ...t/turtlebot3_realturtlebot_motor_driver.h b/...t/turtlebot3_realturtlebot_motor_driver.h → ...t/turtlebot3_realturtlebot_motor_driver.h
diff --git a/...lebot3_road_train/turtlebot3_road_train.h → ...lebot3_road_train/turtlebot3_road_train.h b/...lebot3_road_train/turtlebot3_road_train.h → ...lebot3_road_train/turtlebot3_road_train.h
diff --git a/...bot3_road_train/turtlebot3_road_train.ino → ...bot3_road_train/turtlebot3_road_train.ino b/...bot3_road_train/turtlebot3_road_train.ino → ...bot3_road_train/turtlebot3_road_train.ino
@@ -142,7 +142,7 @@ void receiveRemoteControlData(void)
 }
 
 /*******************************************************************************
-* Control bike speed
+* Control road_train speed
 *******************************************************************************/
 void controlRoadTrain()
 {

diff --git a/...in/turtlebot3_road_train_motor_driver.cpp → ...in/turtlebot3_road_train_motor_driver.cpp b/...in/turtlebot3_road_train_motor_driver.cpp → ...in/turtlebot3_road_train_motor_driver.cpp
diff --git a/...rain/turtlebot3_road_train_motor_driver.h → ...rain/turtlebot3_road_train_motor_driver.h b/...rain/turtlebot3_road_train_motor_driver.h → ...rain/turtlebot3_road_train_motor_driver.h
diff --git a/...nds/turtlebot3_segway/turtlebot3_segway.h → ...nds/turtlebot3_segway/turtlebot3_segway.h b/...nds/turtlebot3_segway/turtlebot3_segway.h → ...nds/turtlebot3_segway/turtlebot3_segway.h
diff --git a/...s/turtlebot3_segway/turtlebot3_segway.ino → ...s/turtlebot3_segway/turtlebot3_segway.ino b/...s/turtlebot3_segway/turtlebot3_segway.ino → ...s/turtlebot3_segway/turtlebot3_segway.ino
diff --git a/...segway/turtlebot3_segway_motor_driver.cpp → ...segway/turtlebot3_segway_motor_driver.cpp b/...segway/turtlebot3_segway_motor_driver.cpp → ...segway/turtlebot3_segway_motor_driver.cpp
diff --git a/...3_segway/turtlebot3_segway_motor_driver.h → ...3_segway/turtlebot3_segway_motor_driver.h b/...3_segway/turtlebot3_segway_motor_driver.h → ...3_segway/turtlebot3_segway_motor_driver.h
diff --git a/...friends/turtlebot3_tank/turtlebot3_tank.h → ...friends/turtlebot3_tank/turtlebot3_tank.h b/...friends/turtlebot3_tank/turtlebot3_tank.h → ...friends/turtlebot3_tank/turtlebot3_tank.h
diff --git a/...iends/turtlebot3_tank/turtlebot3_tank.ino → ...iends/turtlebot3_tank/turtlebot3_tank.ino b/...iends/turtlebot3_tank/turtlebot3_tank.ino → ...iends/turtlebot3_tank/turtlebot3_tank.ino
diff --git a/...ot3_tank/turtlebot3_tank_motor_driver.cpp → ...ot3_tank/turtlebot3_tank_motor_driver.cpp b/...ot3_tank/turtlebot3_tank_motor_driver.cpp → ...ot3_tank/turtlebot3_tank_motor_driver.cpp
diff --git a/...ebot3_tank/turtlebot3_tank_motor_driver.h → ...ebot3_tank/turtlebot3_tank_motor_driver.h b/...ebot3_tank/turtlebot3_tank_motor_driver.h → ...ebot3_tank/turtlebot3_tank_motor_driver.h
diff --git a/...t3_setup_motor/turtlebot3_setup_motor.ino → ...t3_setup_motor/turtlebot3_setup_motor.ino b/...t3_setup_motor/turtlebot3_setup_motor.ino → ...t3_setup_motor/turtlebot3_setup_motor.ino
diff --git a/...urger/turtlebot3_core/turtlebot3_core.ino → ...urger/turtlebot3_core/turtlebot3_core.ino b/...urger/turtlebot3_core/turtlebot3_core.ino → ...urger/turtlebot3_core/turtlebot3_core.ino
diff --git a/.../turtlebot3_core/turtlebot3_core_config.h → .../turtlebot3_core/turtlebot3_core_config.h b/.../turtlebot3_core/turtlebot3_core_config.h → .../turtlebot3_core/turtlebot3_core_config.h
diff --git a/...rtlebot3_core/turtlebot3_motor_driver.cpp → ...rtlebot3_core/turtlebot3_motor_driver.cpp b/...rtlebot3_core/turtlebot3_motor_driver.cpp → ...rtlebot3_core/turtlebot3_motor_driver.cpp
diff --git a/...turtlebot3_core/turtlebot3_motor_driver.h → ...turtlebot3_core/turtlebot3_motor_driver.h b/...turtlebot3_core/turtlebot3_motor_driver.h → ...turtlebot3_core/turtlebot3_motor_driver.h
diff --git a/...affle/turtlebot3_core/turtlebot3_core.ino → ...affle/turtlebot3_core/turtlebot3_core.ino b/...affle/turtlebot3_core/turtlebot3_core.ino → ...affle/turtlebot3_core/turtlebot3_core.ino
diff --git a/.../turtlebot3_core/turtlebot3_core_config.h → .../turtlebot3_core/turtlebot3_core_config.h b/.../turtlebot3_core/turtlebot3_core_config.h → .../turtlebot3_core/turtlebot3_core_config.h
diff --git a/...rtlebot3_core/turtlebot3_motor_driver.cpp → ...rtlebot3_core/turtlebot3_motor_driver.cpp b/...rtlebot3_core/turtlebot3_motor_driver.cpp → ...rtlebot3_core/turtlebot3_motor_driver.cpp
diff --git a/...turtlebot3_core/turtlebot3_motor_driver.h → ...turtlebot3_core/turtlebot3_motor_driver.h b/...turtlebot3_core/turtlebot3_motor_driver.h → ...turtlebot3_core/turtlebot3_motor_driver.h
diff --git a/arduino/opencr_release/1.0.11/opencr_core_1.0.11.tar.bz2 b/arduino/opencr_release/1.0.11/opencr_core_1.0.11.tar.bz2
diff --git a/arduino/opencr_release/package_opencr_index.json b/arduino/opencr_release/package_opencr_index.json
@@ -350,6 +350,37 @@
               "version": "1.0.0"
             }
           ]
+        },
+        {
+          "name": "OpenCR",
+          "architecture": "OpenCR",
+          "version": "1.0.11",
+          "category": "Arduino",
+          "help": {
+            "online": "https://github.com/ROBOTIS-GIT/OpenCR"
+          },
+          "url": "https://github.com/ROBOTIS-GIT/OpenCR/releases/download/1.0.11/opencr_core_1.0.11.tar.bz2",
+          "archiveFileName": "opencr_core_1.0.11.tar.bz2",
+          "checksum": "SHA-256:553f1f5ec1ed0588b3e4d96fa6cb7b0a4974fc60288c16b5214312dc0d24720a",
+          "size": "1887059",
+          "help": {
+                    "online": "https://github.com/ROBOTIS-GIT/OpenCR"
+          },
+          "boards": [
+            {"name": "OpenCR"}
+          ],
+          "toolsDependencies": [
+            {
+              "packager": "OpenCR",
+              "name": "opencr_gcc",
+              "version": "5.4.0-2016q2"
+            },
+            {
+              "packager": "OpenCR",
+              "name": "opencr_tools",
+              "version": "1.0.0"
+            }
+          ]
         }