Fix for DYNAMIXEL-Y control table error & Arduino Uno R4 build error #148

jonghee-son · 2025-05-30T00:38:35Z

Fixed build error when using ARM Cortex-M based Arduino (Such as Arduino UNO R4 Minima and UNO R4 WiFi).
Fixed data width of ControlTableItem::PRESENT_MOTOR_TEMPERATURE for DYNAMIXEL-Y.
Link to e-Manual

…eItem Width" This reverts commit 674c5fb.

Signed-off-by: Jonghee Son <zzongaone@gmail.com>

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Summary of Changes

Hello team, gemini-code-assist here to provide a summary of this pull request. This PR by @jonghee-son addresses two key issues: fixing a build error encountered when using ARM Cortex-M based Arduino boards like the UNO R4, and correcting a data width error in the control table definition for DYNAMIXEL-Y series actuators. Additionally, it includes a renaming of control table items related to the LED functionality for clarity and consistency across different DYNAMIXEL models.

Highlights

Arduino UNO R4 Build Fix: This PR includes changes necessary to resolve build errors specifically affecting ARM Cortex-M based Arduino boards, such as the Arduino UNO R4 Minima and UNO R4 WiFi. While the specific code changes for this fix aren't detailed in the provided patches, the PR description explicitly states this is addressed.
DYNAMIXEL-Y Control Table Correction: The data width for the PRESENT_MOTOR_TEMPERATURE control table item for DYNAMIXEL-Y series actuators has been corrected in the library's internal control table definition (src/actuator.cpp). It was previously incorrectly set to 4 bytes and is now corrected to 1 byte, aligning with the official e-Manual specification.
LED Control Table Item Renaming: Control table items related to LED functionality (LED, LED_RED, LED_GREEN, LED_BLUE) have been renamed to include a DXL_ prefix (DXL_LED, DXL_LED_RED, DXL_LED_GREEN, DXL_LED_BLUE) in both the header file (src/actuator.h) and their usage within the library (src/Dynamixel2Arduino.cpp, src/actuator.cpp). This improves clarity and avoids potential naming conflicts.

Changelog

Click here to see the changelog

library.properties
- Updated the library version from 0.8.0 to 0.8.1 (line 2).
src/Dynamixel2Arduino.cpp
- Updated calls to writeControlTableItem in the setLedState function to use the new DXL_LED* enum values instead of the old LED* values (lines 613, 614, 616, 620).
src/actuator.cpp
- Updated the control_table_1_0 definition to use ControlTableItem::DXL_LED instead of ControlTableItem::LED (line 36).
- Updated the control_table_1_1 definition to use ControlTableItem::DXL_LED instead of ControlTableItem::LED (line 88).
- Updated the xl320_control_table definition to use ControlTableItem::DXL_LED instead of ControlTableItem::LED (line 147).
- Updated the control_table_2_0 definition to use ControlTableItem::DXL_LED instead of ControlTableItem::LED (line 200).
- Updated the pro_r_control_table definition to use ControlTableItem::DXL_LED_RED, DXL_LED_GREEN, and DXL_LED_BLUE instead of the old LED* values (lines 322-324).
- Updated the pro_ra_pro_plus_control_table definition to use ControlTableItem::DXL_LED_RED, DXL_LED_GREEN, and DXL_LED_BLUE instead of the old LED* values (lines 380-382).
- Updated the y_control_table definition to use ControlTableItem::DXL_LED instead of ControlTableItem::LED (line 478).
- Corrected the data width for ControlTableItem::PRESENT_MOTOR_TEMPERATURE in the y_control_table definition from 4 to 1 (line 496).
src/actuator.h
- Renamed the enum members LED, LED_RED, LED_GREEN, and LED_BLUE to DXL_LED, DXL_LED_RED, DXL_LED_GREEN, and DXL_LED_BLUE respectively within the ControlTableItem namespace (lines 334-337).

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Code Review

This pull request introduces two valuable fixes: correcting the data width for PRESENT_MOTOR_TEMPERATURE on DYNAMIXEL-Y series devices and resolving a build error for ARM Cortex-M based Arduinos, likely by renaming LED-related control table items. These changes enhance the library's correctness and robustness. The version bump to 0.8.1 is appropriate for these updates.

Overall, the changes are clear, well-targeted, and improve the library. Well done!

Summary of Findings

Control Table Data Correctness: The data width for PRESENT_MOTOR_TEMPERATURE for DYNAMIXEL-Y was corrected from 4 bytes to 1 byte. This is a critical fix for accurate sensor readings, aligning the library with the official hardware documentation.
Improved Naming and Build Stability: LED-related control table items were renamed with a DXL_ prefix (e.g., LED to DXL_LED). This enhances code clarity, reduces the risk of naming collisions, and is the likely solution for the build errors reported on ARM Cortex-M based Arduino boards.
Versioning (Not commented due to severity settings): The library version was appropriately incremented from 0.8.0 to 0.8.1 in library.properties to reflect these fixes. This is standard practice and was considered a low-severity item.

Merge Readiness

The changes in this pull request effectively address a data correctness issue and a build error, improving the library's reliability and usability. The code modifications are clear and well-justified. Based on this review, the PR appears to be in good shape for merging. As a reviewer, I am not authorized to approve the pull request, but I recommend that these changes be merged after any final checks by the maintainers.

gemini-code-assist · 2025-05-30T00:39:48Z

src/actuator.cpp

@@ -493,7 +493,7 @@ const ModelControlTableInfo_t y_control_table[] PROGMEM = {
  {ControlTableItem::VELOCITY_TRAJECTORY,                564, 4},
  {ControlTableItem::PRESENT_INPUT_VOLTAGE,              568, 2},
  {ControlTableItem::PRESENT_TEMPERATURE,                570, 1},   // Present Inverter Temperature
-  {ControlTableItem::PRESENT_MOTOR_TEMPERATURE,          571, 4},
+  {ControlTableItem::PRESENT_MOTOR_TEMPERATURE,          571, 1},


This correction of the data width for PRESENT_MOTOR_TEMPERATURE from 4 bytes to 1 byte for the DYNAMIXEL-Y series is an important fix. It aligns with the e-Manual (address 571, size 1 byte) and is crucial for ensuring accurate motor temperature readings. An incorrect data width here would lead to erroneous temperature values and could potentially affect other operations if data is read in bulk. Great catch!

gemini-code-assist · 2025-05-30T00:39:48Z

src/actuator.h

+    DXL_LED,
+    DXL_LED_RED,
+    DXL_LED_GREEN,
+    DXL_LED_BLUE,


Renaming the LED-related enum members from LED, LED_RED, LED_GREEN, LED_BLUE to DXL_LED, DXL_LED_RED, DXL_LED_GREEN, DXL_LED_BLUE respectively is a solid improvement.

This DXL_ prefix offers several benefits:

Clarity: It explicitly indicates that these constants relate to the Dynamixel's LED.

Collision Avoidance: This is likely the key to fixing the build error on ARM Cortex-M platforms (like the Arduino UNO R4). Generic names like LED are prone to collisions with macros or constants defined in Arduino core libraries or other third-party libraries, especially across different microcontroller architectures.

Maintainability: It makes the codebase easier to understand and maintain.

This change significantly enhances the library's robustness and portability.

jonghee-son added 9 commits February 25, 2025 13:02

Fix for Arduino Uno R4 build error

88ee229

Fix for STM32 based arduino build error

022a601

Fixed build error on ARM Cortex-M based Arduino boards.

fd01361

Fixed naming inconsistency between LED and DXL_LED_* items

a5782fd

[Fix] Fixed DYNAMIXEL-Y PRESENT_MOTOR_TEMPERATURE ControlTableItem Width

674c5fb

Revert "[Fix] Fixed DYNAMIXEL-Y PRESENT_MOTOR_TEMPERATURE ControlTabl…

2ec236b

…eItem Width" This reverts commit 674c5fb.

[Fix] Fixed DYNAMIXEL-Y PRESENT_MOTOR_TEMPERATURE ControlTableItem Width

f6aa9f4

Signed-off-by: Jonghee Son <zzongaone@gmail.com>

Merge branch 'DY_ControlTableItem_Fix'

3b50cce

Prepare for 0.8.x version release

647aff6

Signed-off-by: Jonghee Son <zzongaone@gmail.com>

jonghee-son requested a review from sookyungson May 30, 2025 00:38

jonghee-son self-assigned this May 30, 2025

gemini-code-assist bot reviewed May 30, 2025

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gemini-code-assist bot suggested changes May 30, 2025

View reviewed changes

jonghee-son merged commit cfbbaf7 into ROBOTIS-GIT:master Jun 9, 2025
1 check passed

This was linked to issues Jun 9, 2025

Dynamixel2Arduino does not compile for STM32 #86

Closed

UNO R4 - Library(libraries) - will not build on new Arduino boards... And may not work at all. #127

Closed

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Fix for DYNAMIXEL-Y control table error & Arduino Uno R4 build error #148

Fix for DYNAMIXEL-Y control table error & Arduino Uno R4 build error #148

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Fix for DYNAMIXEL-Y control table error & Arduino Uno R4 build error #148

Fix for DYNAMIXEL-Y control table error & Arduino Uno R4 build error #148

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Summary of Changes

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