[Fix] Added model identification logic and DYNAMIXEL-Y support for getHardwareError()

Signed-off-by: Jonghee Son <zzongaone@gmail.com>

Author: jonghee-son

src/Dynamixel2Arduino.cpp

@@ -920,10 +920,20 @@ uint8_t Dynamixel2Arduino::getHardwareError(uint8_t id)
   uint16_t model_num = getModelNumberFromTable(id);
   uint8_t ret = 0;
 
+  if(model_num == UNREGISTERED_MODEL){
+    if(setModelNumber(id, getModelNumber(id)) == true){
+      model_num = getModelNumberFromTable(id);
+    }
+  }
+
   if(model_num == AX12A || model_num == AX12W || model_num == AX18A || model_num == DX113 || model_num == DX116 || model_num == DX117 || model_num == RX10 || model_num == RX24F || model_num == RX28 || model_num == RX64 || model_num == EX106 || model_num == MX12W || model_num == MX28 || model_num == MX64 || model_num == MX106 || model_num == XL320)
   {
     setLastLibErrCode(DXL_LIB_ERROR_NOT_SUPPORTED);
   }
+  else if(model_num == YM070_210_M001_RH || model_num == YM070_210_B001_RH || model_num == YM070_210_R051_RH || model_num == YM070_210_R099_RH || model_num == YM070_210_A051_RH || model_num == YM070_210_A099_RH || model_num == YM080_230_M001_RH || model_num == YM080_230_B001_RH || model_num == YM080_230_R051_RH || model_num == YM080_230_R099_RH || model_num == YM080_230_A051_RH || model_num == YM080_230_A099_RH)
+  {
+    ret = (uint8_t)readControlTableItem(ControlTableItem::ERROR_CODE, id);
+  }
   else
   {
     ret = (uint8_t)readControlTableItem(ControlTableItem::HARDWARE_ERROR_STATUS, id);