hsu han-lin / DXL_SDK_For_F446RE

DXL_SDK_For_F446RE. Now test with MX64AR, MX28AR with 1Mbps

Dependents:   RoboticArm DXL_SDK_Porting_Test

Diff: dynamixel.cpp

Revision:
3:e2e9064c668d
Parent:
0:bf4774b25188
Child:
4:44560391db99
--- a/dynamixel.cpp	Wed Feb 08 11:24:07 2017 +0800
+++ b/dynamixel.cpp	Wed Feb 08 12:26:30 2017 +0800
@@ -363,7 +363,7 @@
     dxl_txrx_packet();
 }
 
-int syncWrite_16bit(int start_addr, int data_length, int *param, int param_length) // WORD(16bit) syncwrite() for DXL  stanley
+int syncWrite_u16base(short int start_addr, short int data_length, short int *param, short int param_length) // WORD(16bit) syncwrite() for DXL  stanley
 {
     while(giBusUsing);
     
@@ -395,8 +395,13 @@
             k++;
         }
     } 
+	
+    gbInstructionPacket[LENGTH] = OneRawByte*slaveNum+4;
 
-    gbInstructionPacket[LENGTH] = OneRawByte*slaveNum+4;
+	//for(int i=0;i<50;i++)
+	//	pc.printf("gbInstructionPacket[%d]=%x\n",i,gbInstructionPacket[i]);//stanley test
+		
+
 
     dxl_txrx_packet();
     return 0;