private void VerifyLastMessage(byte servoId, DynamixelProtocol protocol)
{
int commResult = dynamixel.getLastTxRxResult(_portNumber, (int)protocol);
if (commResult != CommSuccess)
{
throw new IOException(DynamixelErrorHelper.GetTxRxResultDescription(commResult) + $" on servo: {servoId}");
}
byte dxlError = dynamixel.getLastRxPacketError(_portNumber, (int)protocol);
if (dxlError != 0)
{
throw new IOException(DynamixelErrorHelper.GetRxPackErrorDescription(dxlError) + $" on servo: {servoId}");
}
}
public bool Ping(byte servoId, DynamixelProtocol protocol = DynamixelProtocol.Version1)
{
dynamixel.ping(_portNumber, (int)protocol, servoId);
if (dynamixel.getLastTxRxResult(_portNumber, (int)protocol) != CommSuccess)
{
return(false);
}
byte dxlError = dynamixel.getLastRxPacketError(_portNumber, (int)protocol);
if (dxlError != 0)
{
throw new IOException(DynamixelErrorHelper.GetRxPackErrorDescription(dxlError));
}
return(true);
}