listen() ist missing

[sigmaeo]

I use this library with a MX-28R and with SoftwareSerial and a TriStateBuffer.

I could send commands to the servo, but always got 129 as reply (= DYN_STATUS_COM_ERROR + DYN_STATUS_TIMEOUT).

After a long search, I found a issue in DynamixelInterfaceArduinoImpl.cpp:
transaction(true) calls readMode() and writemode().
There the direction of the buffer changes, but the software serial is not switched from listen() to stopListening(). This happens only in setReadMode(), but this function is not called, when mDirectionPin is defined.

I changed the code to the following and now everything works very nice! :-)

template<class T>
void DynamixelInterfaceImpl<T>::readMode()
{
	if(mDirectionPin!=NO_DIR_PORT)
	{
		digitalWrite(mDirectionPin, LOW);
                //enable listen() here:
		setReadMode(mStream, mTxPin);  //new line
	}
	else
	{
		setReadMode(mStream, mTxPin);
	}
}

template<class T>
void DynamixelInterfaceImpl<T>::writeMode()
{
	if(mDirectionPin!=NO_DIR_PORT)
	{
		digitalWrite(mDirectionPin, HIGH);
                //disable listen() here:
		setWriteMode(mStream, mTxPin);  //new line
	}
	else
	{
		setWriteMode(mStream, mTxPin);
	}
}