Merge pull request #331 from ROBOTIS-GIT/develop

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ROBOTIS-GIT · Apr 1, 2021 · c70cf3b · c70cf3b
2 parents f4235d4 + 64dd53f
commit c70cf3b
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Showing 3 changed files with 5 additions and 3 deletions.
diff --git a/dynamixel_workbench_toolbox/include/dynamixel_workbench_toolbox/dynamixel_item.h b/dynamixel_workbench_toolbox/include/dynamixel_workbench_toolbox/dynamixel_item.h
@@ -49,6 +49,7 @@
 #define XL430_W250 1060
 
 #define XL430_W250_2 1090 // 2XL
+#define XC430_W250_2 1160 // 2XC
 
 #define XC430_W150 1070
 #define XC430_W240 1080

diff --git a/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_item.cpp b/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_item.cpp
@@ -603,7 +603,7 @@ static const ModelInfo info_XL330 = {0.229,
                                   3.14159265};
 
 //---------------------------------------------------------
-// XL - (num == XL430_W250, XL430_W250_2, XC430_W150, XC430_W240)
+// XL - (num == XL430_W250, XL430_W250_2, XC430_W150, XC430_W240, XC430_W250_2)
 //---------------------------------------------------------
 static const ControlItem items_XL[]{
     {s_Model_Number, 0, sizeof(s_Model_Number) - 1, 2},
@@ -1444,7 +1444,7 @@ const ControlItem *DynamixelItem::getControlTable(uint16_t model_number)
     control_table = items_XL330;
     the_number_of_item = COUNT_XL330_ITEMS;
   }
-  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240)
+  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240 || num == XC430_W250_2)
   {
     control_table = items_XL;
     the_number_of_item = COUNT_XL_ITEMS;
@@ -1559,7 +1559,7 @@ const ModelInfo *DynamixelItem::getModelInfo(uint16_t model_number)
   {
     info = &info_XL330;
   }
-  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240)
+  else if (num == XL430_W250 || num == XL430_W250_2 || num == XC430_W150 || num == XC430_W240 || num == XC430_W250_2)
   {
     info = &info_XL;
   }

diff --git a/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_tool.cpp b/dynamixel_workbench_toolbox/src/dynamixel_workbench_toolbox/dynamixel_tool.cpp
@@ -53,6 +53,7 @@ static const DynamixelModel dynamixel_model_table[] = {
     {XL430_W250, "XL430-W250"},
 
     {XL430_W250_2, "XL430-W250-2"}, // 2XL
+    {XC430_W250_2, "XC430-W250-2"}, // 2XC
 
     {XC430_W150, "XC430-W150"},
     {XC430_W240, "XC430-W240"},