Fix for DYNAMIXEL-Y control table error #145
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…eItem Width" This reverts commit 674c5fb.
Signed-off-by: Jonghee Son <[email protected]>
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Hello @jonghee-son, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed!
Summary of Changes
This pull request addresses an error in the DYNAMIXEL-Y control table definition. Specifically, it corrects the data width of the PRESENT_MOTOR_TEMPERATURE control table item from 4 bytes to 1 byte, aligning with the official e-Manual specification for the DYNAMIXEL-Y series. This correction ensures accurate data representation and prevents potential issues when reading the motor temperature.
Highlights
- Control Table Fix: Corrects the data width of
PRESENT_MOTOR_TEMPERATUREin the DYNAMIXEL-Y control table. - Data Accuracy: Ensures the
PRESENT_MOTOR_TEMPERATUREdata width aligns with the official DYNAMIXEL-Y e-Manual.
Changelog
- src/actuator.cpp
- Corrected the data width of
ControlTableItem::PRESENT_MOTOR_TEMPERATUREfrom 4 to 1 at line 496.
- Corrected the data width of
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A byte's true size,
Corrected in the code's lines,
Temp'rature reads right.
Footnotes
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Code Review
The pull request addresses an incorrect data width for the PRESENT_MOTOR_TEMPERATURE control table item in the DYNAMIXEL-Y series. The provided link to the e-Manual confirms the correction. The change itself is straightforward and appears correct.
Summary of Findings
- Data Width Correction: The data width for
PRESENT_MOTOR_TEMPERATUREwas incorrectly set to 4 bytes and has been corrected to 1 byte, aligning with the DYNAMIXEL-Y series e-Manual.
Merge Readiness
The code change appears correct and addresses the reported issue. Given the straightforward nature of the fix and the confirmation from the e-Manual, the pull request seems ready for merging. However, since I am unable to directly approve the pull request, please have others review and approve this code before merging.
| {ControlTableItem::PRESENT_TEMPERATURE, 570, 1}, // Present Inverter Temperature | ||
| {ControlTableItem::PRESENT_MOTOR_TEMPERATURE, 571, 4}, | ||
| {ControlTableItem::PRESENT_MOTOR_TEMPERATURE, 571, 1}, |
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The data width for PRESENT_MOTOR_TEMPERATURE is being corrected from 4 to 1. This aligns with the DYNAMIXEL-Y series e-Manual, as linked in the pull request description. Is there any additional validation or testing that can be done to confirm this?
| {ControlTableItem::PRESENT_TEMPERATURE, 570, 1}, // Present Inverter Temperature | |
| {ControlTableItem::PRESENT_MOTOR_TEMPERATURE, 571, 4}, | |
| {ControlTableItem::PRESENT_MOTOR_TEMPERATURE, 571, 1}, | |
| {ControlTableItem::PRESENT_TEMPERATURE, 570, 1}, // Present Inverter Temperature | |
| {ControlTableItem::PRESENT_MOTOR_TEMPERATURE, 571, 1}, |
Fixed data width of ControlTableItem::PRESENT_MOTOR_TEMPERATURE for DYNAMIXEL-Y.
Link to e-Manual