Develop

ReleaseNote.txt

@@ -1,3 +1,20 @@
+==============================================
+    Dynamixel SDK v3.3.3 (Protocol 1.0/2.0)
+==============================================
+
+- 08.03.2016
+
+* SDK C#     Resource Files comments Korean -> English
+* SDK C#     properties comments Korean removed
+* SDK C#     example default device path modified
+* SDK All    License marks for example codes updated
+* SDK Java   example source - folder name changed
+* SDK MATLAB example code modified as platform version auto-detection #1
+* SDK C/C++  build file for linux used by SBC(Single Board Computer)s updated #15
+
+* Solved issue : #3, #8, #1, #15
+
+
 ==============================================
     Dynamixel SDK v3.3.2 (Protocol 1.0/2.0)
 ==============================================

c#/dynamixel_functions_csharp/win32/dynamixel.cs

@@ -1,11 +1,43 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: Ryu Woon Jung (Leon) */
+
 using System;
 using System.Runtime.InteropServices;
 
 namespace dynamixel_sdk
 {
   class dynamixel
   {
-    const string dll_path = "../../../c/build/win32/output/dxl_x86_c.dll";
+    const string dll_path = "../../../../../../../../c/build/win32/output/dxl_x86_c.dll";
 
     #region PortHandler
     [DllImport(dll_path)]

c#/dynamixel_functions_csharp/win64/dynamixel.cs

@@ -1,11 +1,43 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: Ryu Woon Jung (Leon) */
+
 using System;
 using System.Runtime.InteropServices;
 
 namespace dynamixel_sdk
 {
   class dynamixel
   {
-    const string dll_path = "../../../c/build/win64/output/dxl_x64_c.dll";
+    const string dll_path = "../../../../../../../../c/build/win64/output/dxl_x64_c.dll";
 
     #region PortHandler
     [DllImport(dll_path)]

c#/protocol1.0/bulk_read/win32/bulk_read/BulkRead.cs

@@ -1,9 +1,34 @@
-/*
- * BulkRead.cs
- *
- *  Created on: 2016. 6. 20.
- *      Author: Ryu Woon Jung (Leon)
- */
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: Ryu Woon Jung (Leon) */
 
 //
 // *********     Bulk Read Example      *********
@@ -40,7 +65,7 @@ class BulkRead
     public const int DXL1_ID                         = 1;                   // Dynamixel ID: 1
     public const int DXL2_ID                         = 2;                   // Dynamixel ID: 2
     public const int BAUDRATE                        = 1000000;
-    public const string DEVICENAME                   = "/dev/ttyUSB0";      // Check which port is being used on your controller
+    public const string DEVICENAME                   = "COM1";      // Check which port is being used on your controller
                                                                             // ex) "COM1"   Linux: "/dev/ttyUSB0"
 
     public const int TORQUE_ENABLE                   = 1;                   // Value for enabling the torque

c#/protocol1.0/bulk_read/win32/bulk_read/Properties/AssemblyInfo.cs

@@ -2,9 +2,9 @@
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 
-// 어셈블리에 대한 일반 정보는 다음 특성 집합을 통해 
-// 제어됩니다. 어셈블리와 관련된 정보를 수정하려면
-// 이러한 특성 값을 변경하세요.
+
+
+
 [assembly: AssemblyTitle("bulk_read")]
 [assembly: AssemblyDescription("")]
 [assembly: AssemblyConfiguration("")]
@@ -14,23 +14,23 @@
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
 
-// ComVisible을 false로 설정하면 이 어셈블리의 형식이 COM 구성 요소에 
-// 표시되지 않습니다.  COM에서 이 어셈블리의 형식에 액세스하려면 
-// 해당 형식에 대해 ComVisible 특성을 true로 설정하세요.
+
+
+
 [assembly: ComVisible(false)]
 
-// 이 프로젝트가 COM에 노출되는 경우 다음 GUID는 typelib의 ID를 나타냅니다.
+
 [assembly: Guid("25a1bbb1-0e8d-4f9f-8e31-ec0c1e61db35")]
 
-// 어셈블리의 버전 정보는 다음 네 가지 값으로 구성됩니다.
+
 //
-//      주 버전
-//      부 버전 
-//      빌드 번호
-//      수정 버전
+
+
+
+
 //
-// 모든 값을 지정하거나 아래와 같이 '*'를 사용하여 빌드 번호 및 수정 번호가 자동으로 
-// 지정되도록 할 수 있습니다.
+
+
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
 [assembly: AssemblyFileVersion("1.0.0.0")]

c#/protocol1.0/bulk_read/win32/bulk_read/dynamixel.cs

@@ -1,11 +1,43 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: Ryu Woon Jung (Leon) */
+
 using System;
 using System.Runtime.InteropServices;
 
 namespace dynamixel_sdk
 {
   class dynamixel
   {
-    const string dll_path = "../../../c/build/win32/output/dxl_x86_c.dll";
+    const string dll_path = "../../../../../../../../c/build/win32/output/dxl_x86_c.dll";
 
     #region PortHandler
     [DllImport(dll_path)]

c#/protocol1.0/bulk_read/win64/bulk_read/BulkRead.cs

@@ -1,9 +1,34 @@
-/*
- * BulkRead.cs
- *
- *  Created on: 2016. 6. 20.
- *      Author: Ryu Woon Jung (Leon)
- */
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: Ryu Woon Jung (Leon) */
 
 //
 // *********     Bulk Read Example      *********
@@ -40,7 +65,7 @@ class BulkRead
     public const int DXL1_ID                         = 1;                   // Dynamixel ID: 1
     public const int DXL2_ID                         = 2;                   // Dynamixel ID: 2
     public const int BAUDRATE                        = 1000000;
-    public const string DEVICENAME                   = "/dev/ttyUSB0";      // Check which port is being used on your controller
+    public const string DEVICENAME                   = "COM1";      // Check which port is being used on your controller
                                                                             // ex) "COM1"   Linux: "/dev/ttyUSB0"
 
     public const int TORQUE_ENABLE                   = 1;                   // Value for enabling the torque

c#/protocol1.0/bulk_read/win64/bulk_read/Properties/AssemblyInfo.cs

@@ -2,9 +2,9 @@
 using System.Runtime.CompilerServices;
 using System.Runtime.InteropServices;
 
-// 어셈블리에 대한 일반 정보는 다음 특성 집합을 통해 
-// 제어됩니다. 어셈블리와 관련된 정보를 수정하려면
-// 이러한 특성 값을 변경하세요.
+
+
+
 [assembly: AssemblyTitle("bulk_read")]
 [assembly: AssemblyDescription("")]
 [assembly: AssemblyConfiguration("")]
@@ -14,23 +14,23 @@
 [assembly: AssemblyTrademark("")]
 [assembly: AssemblyCulture("")]
 
-// ComVisible을 false로 설정하면 이 어셈블리의 형식이 COM 구성 요소에 
-// 표시되지 않습니다.  COM에서 이 어셈블리의 형식에 액세스하려면 
-// 해당 형식에 대해 ComVisible 특성을 true로 설정하세요.
+
+
+
 [assembly: ComVisible(false)]
 
-// 이 프로젝트가 COM에 노출되는 경우 다음 GUID는 typelib의 ID를 나타냅니다.
+
 [assembly: Guid("25a1bbb1-0e8d-4f9f-8e31-ec0c1e61db35")]
 
-// 어셈블리의 버전 정보는 다음 네 가지 값으로 구성됩니다.
+
 //
-//      주 버전
-//      부 버전 
-//      빌드 번호
-//      수정 버전
+
+
+
+
 //
-// 모든 값을 지정하거나 아래와 같이 '*'를 사용하여 빌드 번호 및 수정 번호가 자동으로 
-// 지정되도록 할 수 있습니다.
+
+
 // [assembly: AssemblyVersion("1.0.*")]
 [assembly: AssemblyVersion("1.0.0.0")]
 [assembly: AssemblyFileVersion("1.0.0.0")]

c#/protocol1.0/bulk_read/win64/bulk_read/dynamixel.cs

@@ -1,11 +1,43 @@
+/*******************************************************************************
+* Copyright (c) 2016, ROBOTIS CO., LTD.
+* All rights reserved.
+*
+* Redistribution and use in source and binary forms, with or without
+* modification, are permitted provided that the following conditions are met:
+*
+* * Redistributions of source code must retain the above copyright notice, this
+*   list of conditions and the following disclaimer.
+*
+* * Redistributions in binary form must reproduce the above copyright notice,
+*   this list of conditions and the following disclaimer in the documentation
+*   and/or other materials provided with the distribution.
+*
+* * Neither the name of ROBOTIS nor the names of its
+*   contributors may be used to endorse or promote products derived from
+*   this software without specific prior written permission.
+*
+* THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS"
+* AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE
+* IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+* DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE
+* FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL
+* DAMAGES (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR
+* SERVICES; LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER
+* CAUSED AND ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY,
+* OR TORT (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE
+* OF THIS SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*******************************************************************************/
+
+/* Author: Ryu Woon Jung (Leon) */
+
 using System;
 using System.Runtime.InteropServices;
 
 namespace dynamixel_sdk
 {
   class dynamixel
   {
-    const string dll_path = "../../../c/build/win64/output/dxl_x64_c.dll";
+    const string dll_path = "../../../../../../../../c/build/win64/output/dxl_x64_c.dll";
 
     #region PortHandler
     [DllImport(dll_path)]