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CHANGELOG.md

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May, 16th 2018

  • [New model] Add (almost complete) support for the servo-motors in the X series

March, 26th 2018

  • [Improvement] Add support to MX series using protocol 2
  • [API change] rename control table fields:
    • original: new
    • d_gain: position_d_gain
    • i_gain: position_i_gain
    • p_gain: position_p_gain
    • current: present_current
    • sensed_current: present_current
    • control_mode: operating_mode

March, 2nd 2018

  • [Improvement] operating_mode functions to get the operating mode (position or velocity) of servo-motors
  • [API change] the operating mode (wheel or joint) is now defined as a scoped enum, thus used like dynamixel::OpertingMode::wheel
  • [Deprecation] removed method get_goal_speed_angle that only duplicated get_moving_speed and brought nothing
  • [API change] renamed methods reg_goal_speed_angle and set_goal_speed_angle respectively to reg_moving_speed_angle and set_moving_speed_angle
  • [Improvement] add information on the unit in error message for position and speed limit overflow
  • [Command line] allow to set timeout for the scan for connected servos
  • [Command line] catch exceptions raised by boost::program_options when improper options are used
  • [Improvement] the UnpackError tells the user how many bytes arrived and were expected

July, 13th 2017

  • [API change] (addition) auto_detect and auto_detect_map now have an optional (function overload) second argument: a std::vector of Protocol::id_t (servo ID); if this argument is provided, the library will only scan for the desired IDs
  • [Improvement] command line utility uses the above functionality to dramatically reduce response time when IDs are provided.