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Added API for library error code #139

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Added API for library error code #139

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907fc27
Added function to retrieve library error code
jonghee-son Feb 14, 2025
24282ef
Minor change in function description for getLibErrCode()
jonghee-son Feb 14, 2025
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5 changes: 5 additions & 0 deletions src/Dynamixel2Arduino.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -155,6 +155,11 @@ unsigned long Dynamixel2Arduino::getPortBaud()
return p_dxl_port_->getBaud();
}

int Dynamixel2Arduino::getLibErrCode()
{
return getLastLibErrCode();
}

bool Dynamixel2Arduino::scan()
{
bool ret = true;
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11 changes: 11 additions & 0 deletions src/Dynamixel2Arduino.h
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Expand Up @@ -94,6 +94,17 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
* @return It returns serial baudrate of board port.
*/
unsigned long getPortBaud();

/**
* @brief API for getting library error code.
* @code
* const int DXL_DIR_PIN = 2;
* Dynamixel2Arduino dxl(Serial1, DXL_DIR_PIN);
* Serial.print(dxl.getLibErrCode());
* @endcode
* @return It returns error code from library.
*/
int getLibErrCode();

/**
* @brief It is API for To checking the communication connection status of DYNAMIXEL.
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