PSL_2021 / servomotor_MX12_Lorenzo

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Dependents:   PSL_ROBOT_lorenzo robot_lorenzo recepteur_mbed_os_6

Diff: MX12.h

Revision:
6:177aead4eb6b
Parent:
5:0cf54586a4be
Child:
7:68983a9b0531
--- a/MX12.h	Thu Nov 04 11:48:53 2021 +0000
+++ b/MX12.h	Thu Nov 04 12:32:56 2021 +0000
@@ -14,13 +14,8 @@
 #define MX12_DATA_MAX_SIZE 256
 #define MX12_MAX_MOTOR_COUNT 16
 
-
 /* Dynamixel protocol v1.0 : Instructions
  ******************************************/
-/** \def PROTOCOL_INSTRUCTION_PING
-    Instruction that checks whether the Packet has arrived to a device 
-    with the same ID as Packet ID
-*/
 #define PROTOCOL_INSTRUCTION_PING          0x01
 #define PROTOCOL_INSTRUCTION_READ          0x02
 #define PROTOCOL_INSTRUCTION_WRITE         0x03
@@ -196,15 +191,17 @@
          * @param[in] mot_id indicates the ID of the device (servomotor) that
          *            should receive the Instruction Packet and process it
          * @param[in] address data address in the "Control Table of RAM Area"
-         *            of a servomotor MX12 (https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/#control-table-of-ram-area).
+         *            of a servomotor MX12 
+         *            (https://emanual.robotis.com/docs/en/dxl/mx/mx-12w/#control-table-of-ram-area).
          * @param[in] len if it is a write instruction, size in bytes 
          *            of the data to write in the "Control Table of RAM Area"
-         * @param[in, out] data array of char containing parameter of Danamixel  
+         * @param[in] data array of char containing parameter of Danamixel  
          *            protocol that are the instruction’s auxiliary data field
          *  
          * @see https://emanual.robotis.com/docs/en/dxl/protocol1/
          *
-         * Packet sent
+         * Packet sent (1)
+         * ```
          * <PRE>
          * |Header1|Header2|Packet ID|Length|Instruction|Param1...ParamN|Checksum|
          * |-------|-------|---------|------|-----------|---------------|--------|
@@ -215,6 +212,7 @@
          *                   mot_id                      address   data
          *                                                        (len = N-1)
          * </PRE>
+         *```
          */
         void rw(unsigned char mot_id, char address, char len, char *data);