File content as of revision 6:edba46e8f8b4:

#ifndef DEF_DYNAMIXEL
#define DEF_DYNAMIXEL

#include "mbed.h"
// ========== Compile Options ==========
#define ENABLE_uSerial  0
// ========== DEBUG Console ============
#if ENABLE_uSerial
Serial  debug_userial(USBTX, USBRX);
#define DEBUG(...) { debug_userial.printf(__VA_ARGS__); }
#else
#define DEBUG(...)
#endif
const unsigned char BROADCAST_ID = 0xfe;
const unsigned char STATUS_PACKET_LENGTH = 0x06;
// Instruction set
const unsigned char PING = 0x01;
const unsigned char READ_DATA = 0x02;
const unsigned char WRITE_DATA = 0x03;
const unsigned char REG_WRITE = 0x04;
const unsigned char ACTION = 0x05;
const unsigned char RESET = 0x06;
const unsigned char SYNC_WRITE = 0x83;
// Control table
const unsigned char ADDRESS_PRESENT_TEMPERATURE = 0x2B;
const unsigned char ADDRESS_GOAL_POSITION = 0x1E;
const unsigned char ADDRESS_LED = 0x19;
const unsigned char ADDRESS_MOVING_SPEED = 0x20;
const unsigned char ADDRESS_RETURN_DELAY_TIME = 0x05;
const unsigned char ADDRESS_MAX_TORQUE = 0x0E;
const unsigned char ADDRESS_TORQUE_ENABLE = 0x18;
const unsigned char ADDRESS_CW_ANGLE_LIMIT = 0x06;
const unsigned char ADDRESS_CCW_ANGLE_LIMIT = 0x08;

class Dynamixel
{
public:
    Dynamixel(PinName tx, PinName rx, PinName txEnable, uint8_t motorID, int baudrate);
    uint8_t ping();
    uint8_t toggleLED(uint8_t ledState);
    uint8_t move(uint16_t position);
    uint8_t setAngleLimit(uint16_t mode, uint8_t address);
    uint8_t setSpeed(uint16_t speed);
    uint8_t setReturnDelayTime(uint16_t speed);
    uint8_t getReturnDelayTime();
private:
    Serial m_link;
    DigitalOut m_txEnable;
    uint8_t m_motorID;
    const int m_baudrate;
};
#endif