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Reduce default timeout #152

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Reduce default timeout #152

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2064453
Reduce timeout from 100ms to 10ms
Godeffroy May 29, 2026
8f86b34
[Fix] Initialize p_parse_packet structure
Godeffroy May 29, 2026
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8 changes: 4 additions & 4 deletions src/Dynamixel2Arduino.h
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Original file line number Diff line number Diff line change
Expand Up @@ -404,7 +404,7 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
* If the read fails, 0 is returned. Whether or not this is an actual value can be confirmed with @getLastLibErrCode().
*/
int32_t readControlTableItem(uint8_t item_idx,
uint8_t id, uint32_t timeout = 100);
uint8_t id, uint32_t timeout = 10);

/**
* @brief It is API for controlling data of a DYNAMIXEL control table item.
Expand All @@ -423,7 +423,7 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
* @return It returns true(1) on success, false(0) on failure.
*/
bool writeControlTableItem(uint8_t item_idx,
uint8_t id, int32_t data, uint32_t timeout = 100);
uint8_t id, int32_t data, uint32_t timeout = 10);


#if 0 //TODO
Expand Down Expand Up @@ -464,10 +464,10 @@ class Dynamixel2Arduino : public DYNAMIXEL::Master
bool writeForRangeDependencyFunc(uint8_t func_idx, uint8_t id, float value, uint8_t unit);

int32_t readControlTableItem(uint16_t model_num,
uint8_t item_idx, uint8_t id, uint32_t timeout = 100);
uint8_t item_idx, uint8_t id, uint32_t timeout = 10);

bool writeControlTableItem(uint16_t model_num,
uint8_t item_idx, uint8_t id, int32_t data, uint32_t timeout = 100);
uint8_t item_idx, uint8_t id, int32_t data, uint32_t timeout = 10);
};


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11 changes: 9 additions & 2 deletions src/dxl_c/protocol.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -332,6 +332,10 @@ static DXLLibErrorCode_t end_make_dxl2_0_packet(InfoToMakeDXLPacket_t* p_make_pa
DXLLibErrorCode_t begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet,
uint8_t protocol_ver, uint8_t* p_param_buf, uint16_t param_buf_capacity)
{
if(p_parse_packet == NULL){
return DXL_LIB_ERROR_NULLPTR;
}

if(param_buf_capacity > 0 && p_param_buf == NULL){
return DXL_LIB_ERROR_NULLPTR;
}
Expand All @@ -340,21 +344,24 @@ DXLLibErrorCode_t begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet,
return DXL_LIB_ERROR_INVAILD_PROTOCOL_VERSION;
}

memset(p_parse_packet, 0, sizeof(InfoToParseDXLPacket_t));
p_parse_packet->protocol_ver = protocol_ver;
p_parse_packet->p_param_buf = p_param_buf;
p_parse_packet->param_buf_capacity = param_buf_capacity;
// p_parse_packet->recv_param_len = 0;
// p_parse_packet->parse_state = 0;
p_parse_packet->is_init = true;

return DXL_LIB_OK;
}

DXLLibErrorCode_t fast_begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t protocol_ver)
{
if (p_parse_packet == NULL)
return DXL_LIB_ERROR_NULLPTR;

if (protocol_ver != 2)
return DXL_LIB_ERROR_INVAILD_PROTOCOL_VERSION;

memset(p_parse_packet, 0, sizeof(InfoToParseDXLPacket_t));
p_parse_packet->protocol_ver = protocol_ver;
p_parse_packet->p_param_buf = nullptr;
p_parse_packet->param_buf_capacity = 0;
Expand Down
1 change: 1 addition & 0 deletions src/dxl_c/protocol.h
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Original file line number Diff line number Diff line change
Expand Up @@ -19,6 +19,7 @@
#include <stdint.h>
#include <stddef.h>
#include <stdbool.h>
#include <cstring>

const int DXL_BROADCAST_ID = 0xFE;

Expand Down