From 9fd4098840305750467e930f83d136ee519ab5d6 Mon Sep 17 00:00:00 2001
From: Jonathon <cs@robotis.com>
Date: Mon, 12 Jun 2023 17:32:40 -0700
Subject: [PATCH] Added comment to provide information on AX MX default use of
 protocol 1 communications.

---
 examples/advanced/can2dynamixel/can2dynamixel.ino             | 2 ++
 examples/advanced/pid_tuning/pid_tuning.ino                   | 2 ++
 examples/advanced/rc_pwm2dynamixel/rc_pwm2dynamixel.ino       | 3 ++-
 .../read_write_ControlTableItem.ino                           | 4 +++-
 .../sync_read_write_position/sync_read_write_position.ino     | 2 ++
 .../sync_read_write_velocity/sync_read_write_velocity.ino     | 2 ++
 examples/basic/baudrate/baudrate.ino                          | 4 +++-
 examples/basic/current_mode/current_mode.ino                  | 2 ++
 .../basic/current_position_mode/current_position_mode.ino     | 2 ++
 examples/basic/id/id.ino                                      | 4 +++-
 examples/basic/led/led.ino                                    | 2 ++
 examples/basic/operating_mode/operating_mode.ino              | 2 ++
 examples/basic/ping/ping.ino                                  | 4 +++-
 examples/basic/position_mode/position_mode.ino                | 2 ++
 .../profile_velocity_acceleration.ino                         | 2 ++
 examples/basic/pwm_mode/pwm_mode.ino                          | 2 ++
 examples/basic/torque/torque.ino                              | 2 ++
 examples/basic/velocity_mode/velocity_mode.ino                | 2 ++
 examples/dynamixel_protocol/factory_reset/factory_reset.ino   | 4 +++-
 examples/dynamixel_protocol/ping/ping.ino                     | 4 +++-
 examples/dynamixel_protocol/reboot/reboot.ino                 | 4 +++-
 21 files changed, 49 insertions(+), 8 deletions(-)

diff --git a/examples/advanced/can2dynamixel/can2dynamixel.ino b/examples/advanced/can2dynamixel/can2dynamixel.ino
index 5e0795d..38bd85f 100644
--- a/examples/advanced/can2dynamixel/can2dynamixel.ino
+++ b/examples/advanced/can2dynamixel/can2dynamixel.ino
@@ -95,6 +95,8 @@ const uint8_t RX_BUFFER_SIZE = 30;
 const CanBitRate CAN_BUADRATE = CanBitRate::BR_1000kBPS_16MHZ;
 
 // Define the DYNAMIXEL Protocol version to use.
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 // Define the Baud Rate of DYNAMIXEL to use. Recommend not to exceed 1Mbps.
 const uint32_t DXL_BUADRATE = 1000000;
diff --git a/examples/advanced/pid_tuning/pid_tuning.ino b/examples/advanced/pid_tuning/pid_tuning.ino
index 9a82b34..02f84ce 100644
--- a/examples/advanced/pid_tuning/pid_tuning.ino
+++ b/examples/advanced/pid_tuning/pid_tuning.ino
@@ -39,6 +39,8 @@
 
 const uint8_t DXL_ID = 1;
 const uint32_t DXL_BAUDRATE = 57600;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 int32_t goal_position[2] = {1200, 1600};
diff --git a/examples/advanced/rc_pwm2dynamixel/rc_pwm2dynamixel.ino b/examples/advanced/rc_pwm2dynamixel/rc_pwm2dynamixel.ino
index 2e6ee75..4600833 100644
--- a/examples/advanced/rc_pwm2dynamixel/rc_pwm2dynamixel.ino
+++ b/examples/advanced/rc_pwm2dynamixel/rc_pwm2dynamixel.ino
@@ -40,7 +40,8 @@ DynamixelShield dxl;
 
 // Number of PWM Channels
 const uint8_t PWM_CHANNEL_SIZE = 8;
-// DYNAMIXEL Protocol Version [1.0 / 2.0]
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 // DYNAMIXEL Baudrate
 const uint32_t DXL_BUADRATE = 1000000;
diff --git a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
index d6d2bfc..d2e2bf4 100644
--- a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
+++ b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
@@ -135,6 +135,8 @@ using namespace ControlTableItem;
 void setup() {
   // put your setup code here, to run once:
   DEBUG_SERIAL.begin(115200);
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
   dxl.setPortProtocolVersion(2.0);
   dxl.begin(57600);
   dxl.scan();
@@ -184,4 +186,4 @@ void loop() {
   }
 
   delay(2000);  
-}
\ No newline at end of file
+}
diff --git a/examples/advanced/sync_read_write_position/sync_read_write_position.ino b/examples/advanced/sync_read_write_position/sync_read_write_position.ino
index ceb99bf..3d54e4c 100644
--- a/examples/advanced/sync_read_write_position/sync_read_write_position.ino
+++ b/examples/advanced/sync_read_write_position/sync_read_write_position.ino
@@ -72,6 +72,8 @@
 */
 
 const uint8_t BROADCAST_ID = 254;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 1.0;
 const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const uint8_t DXL_ID_CNT = 2;
 const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {1, 2};
diff --git a/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino b/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
index de9199a..27dcfe0 100755
--- a/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
+++ b/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
@@ -73,6 +73,8 @@
 */
 
 const uint8_t BROADCAST_ID = 254;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 1.0;
 const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const uint8_t DXL_ID_CNT = 2;
 const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {1, 2};
diff --git a/examples/basic/baudrate/baudrate.ino b/examples/basic/baudrate/baudrate.ino
index 136f116..9c65f35 100644
--- a/examples/basic/baudrate/baudrate.ino
+++ b/examples/basic/baudrate/baudrate.ino
@@ -27,6 +27,8 @@
 #endif
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 uint32_t BAUDRATE = 57600;
 uint32_t NEW_BAUDRATE = 1000000; //1Mbsp
@@ -77,4 +79,4 @@ void setup() {
 
 void loop() {
   // put your main code here, to run repeatedly:
-}
\ No newline at end of file
+}
diff --git a/examples/basic/current_mode/current_mode.ino b/examples/basic/current_mode/current_mode.ino
index d2226e0..e14c9f0 100644
--- a/examples/basic/current_mode/current_mode.ino
+++ b/examples/basic/current_mode/current_mode.ino
@@ -27,6 +27,8 @@
 #endif
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
diff --git a/examples/basic/current_position_mode/current_position_mode.ino b/examples/basic/current_position_mode/current_position_mode.ino
index 5eacc0d..e0321aa 100644
--- a/examples/basic/current_position_mode/current_position_mode.ino
+++ b/examples/basic/current_position_mode/current_position_mode.ino
@@ -31,6 +31,8 @@
 #endif
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
diff --git a/examples/basic/id/id.ino b/examples/basic/id/id.ino
index af47108..49f342b 100644
--- a/examples/basic/id/id.ino
+++ b/examples/basic/id/id.ino
@@ -28,6 +28,8 @@
 
 
 const uint8_t DEFAULT_DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
@@ -90,4 +92,4 @@ void setup() {
 
 void loop() {
   // put your main code here, to run repeatedly:
-}
\ No newline at end of file
+}
diff --git a/examples/basic/led/led.ino b/examples/basic/led/led.ino
index 42e9ef4..ee7763d 100644
--- a/examples/basic/led/led.ino
+++ b/examples/basic/led/led.ino
@@ -17,6 +17,8 @@
 #include <DynamixelShield.h>
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
diff --git a/examples/basic/operating_mode/operating_mode.ino b/examples/basic/operating_mode/operating_mode.ino
index 0825b40..ffec467 100644
--- a/examples/basic/operating_mode/operating_mode.ino
+++ b/examples/basic/operating_mode/operating_mode.ino
@@ -37,6 +37,8 @@
 #endif
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
diff --git a/examples/basic/ping/ping.ino b/examples/basic/ping/ping.ino
index bd39be2..5b47a15 100644
--- a/examples/basic/ping/ping.ino
+++ b/examples/basic/ping/ping.ino
@@ -27,6 +27,8 @@
 #endif
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
@@ -62,4 +64,4 @@ void loop() {
     DEBUG_SERIAL.println("ping failed!");
   }
   delay(500);
-}
\ No newline at end of file
+}
diff --git a/examples/basic/position_mode/position_mode.ino b/examples/basic/position_mode/position_mode.ino
index 148fdb8..cb8da8b 100644
--- a/examples/basic/position_mode/position_mode.ino
+++ b/examples/basic/position_mode/position_mode.ino
@@ -27,6 +27,8 @@
 #endif
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
diff --git a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
index b5d9d8e..b739b84 100644
--- a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
+++ b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
@@ -32,6 +32,8 @@
 #endif
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
diff --git a/examples/basic/pwm_mode/pwm_mode.ino b/examples/basic/pwm_mode/pwm_mode.ino
index f14681f..30da018 100644
--- a/examples/basic/pwm_mode/pwm_mode.ino
+++ b/examples/basic/pwm_mode/pwm_mode.ino
@@ -27,6 +27,8 @@
 #endif
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
diff --git a/examples/basic/torque/torque.ino b/examples/basic/torque/torque.ino
index bd35567..fd1d8af 100644
--- a/examples/basic/torque/torque.ino
+++ b/examples/basic/torque/torque.ino
@@ -21,6 +21,8 @@
 #include <DynamixelShield.h>
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
diff --git a/examples/basic/velocity_mode/velocity_mode.ino b/examples/basic/velocity_mode/velocity_mode.ino
index 4e9a7c5..cc91c23 100644
--- a/examples/basic/velocity_mode/velocity_mode.ino
+++ b/examples/basic/velocity_mode/velocity_mode.ino
@@ -27,6 +27,8 @@
 #endif
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
diff --git a/examples/dynamixel_protocol/factory_reset/factory_reset.ino b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
index a1d83b2..951d449 100644
--- a/examples/dynamixel_protocol/factory_reset/factory_reset.ino
+++ b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
@@ -28,6 +28,8 @@
 
 #define TIMEOUT 10    //default communication timeout 10ms
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 bool ret = false;
@@ -101,4 +103,4 @@ void loop() {
   }
 
   delay(1000);
-}
\ No newline at end of file
+}
diff --git a/examples/dynamixel_protocol/ping/ping.ino b/examples/dynamixel_protocol/ping/ping.ino
index d55412d..6171816 100644
--- a/examples/dynamixel_protocol/ping/ping.ino
+++ b/examples/dynamixel_protocol/ping/ping.ino
@@ -38,6 +38,8 @@ uint8_t ret = 0;
 uint8_t recv_count = 0;
 
 const uint8_t DXL_ID = BROADCAST_ID;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 DynamixelShield dxl;
@@ -78,4 +80,4 @@ void setup() {
 
 void loop() {
   // put your main code here, to run repeatedly:
-}
\ No newline at end of file
+}
diff --git a/examples/dynamixel_protocol/reboot/reboot.ino b/examples/dynamixel_protocol/reboot/reboot.ino
index 89ee353..645ad6f 100644
--- a/examples/dynamixel_protocol/reboot/reboot.ino
+++ b/examples/dynamixel_protocol/reboot/reboot.ino
@@ -28,6 +28,8 @@
 
 #define TIMEOUT 10    //default communication timeout 10ms
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 uint8_t option = 0;
 
@@ -72,4 +74,4 @@ void loop() {
   }
 
   delay(1000);
-}
\ No newline at end of file
+}