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resibots / libdynamixel

C++ interface to the dynamixel actuators
GNU General Public License v2.0
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Header detection #27

Closed dogoepp closed 7 years ago

dogoepp commented 7 years ago

These modifications introduce a detection of the header for incoming messages. The goal is to better cope with the occasional perturbation we could observe on the bus.

To do so, as long as the incoming data does not match that of a packet header, it is ignored.

Also, checksum mismatch now only causes an exception if the user asks for it (through an attribute of the USB2Dynamixel class (a.k.a. controller or serial interface).

This code has been tested for protocol 1 and 2 in a simulated communication and for protocol 1 with real actuators.

Should we still have issues after these changes, we can consider the modification proposed in #26 .

@costashatz @jbmouret comments are welcome to check for bad design or obvious errors.

dogoepp commented 7 years ago

Reviews would be welcome, as they would allow us to write the documentation with the latest version of the library.

dogoepp commented 7 years ago

Merging