robot arm demo team / Dynamixel

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Fork of Dynamixel by Jonathan Pickett

Diff: DynamixelBus.cpp

Revision:
2:536f775454c3
Parent:
1:c5327c6d6239
Child:
3:37aa8024931e
--- a/DynamixelBus.cpp	Tue Dec 15 04:38:25 2015 +0000
+++ b/DynamixelBus.cpp	Tue Jan 19 19:49:27 2016 +0000
@@ -199,6 +199,7 @@
     if( id != 0xFE )
     {
         t.start();
+        int rstart = t.read_us();
         while( t.read() < _responseTimeout )                
         {
             if (_uart.readable())
@@ -215,7 +216,9 @@
                 }
             }
         }
+        int rend = t.read_us();
         t.stop();
+  //      printf("readtime %d\r\n", rend - rstart);
     }
     
     _rxSelect = 0;