Dynamixel Easy SDK Manual Update #1839
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- **Tutorials**: Standardize `createReader`/`createWriter` API usage, simplify Python code structure, and unify error handling across Steps 4-7. - **API Reference**: Add missing Connector methods and new Smart Group Control documentation. - **Getting Started**: Correct supported environments and refine installation/build instructions.
- **Step 3 (C++)**: Improve console output using '\r' and 'std::flush' for smoother real-time monitoring instead of newlines. - **Step 5 (Python)**: Add missing 'if __name__ == \"__main__\":' block to ensure the script executes properly.
Summary of ChangesHello @ROBOTIS-zerom, I'm Gemini Code Assist1! I'm currently reviewing this pull request and will post my feedback shortly. In the meantime, here's a summary to help you and other reviewers quickly get up to speed! This pull request delivers a substantial overhaul of the Dynamixel Easy SDK documentation. It introduces the powerful 'Smart Group Control' feature, streamlining multi-motor operations and simplifying error management across C++ and Python examples. The changes aim to make the SDK more intuitive and robust for developers by providing clearer code, comprehensive API references, and improved structural navigation. Highlights
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Code Review
This pull request introduces a significant and valuable update to the Dynamixel Easy SDK documentation and tutorials. The refactoring of group motor control examples to use the new SmartGroup API (createReader/createWriter) greatly improves code clarity and conciseness for both C++ and Python. The unified error handling and updated build instructions are also welcome improvements. My review focuses on ensuring consistency across the new documentation and examples. I've identified a few minor areas for improvement, such as standardizing function signatures and aligning tutorial code examples with the new API reference documentation for better clarity. Overall, this is an excellent enhancement that will significantly improve the developer experience.
| ## [Create Connector](#create-connector) | ||
| - Create a `Connector` object with port name, baud rate, and protocol version. | ||
| ```cpp | ||
| int main(){ |
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For consistency with other code snippets in this file (e.g., line 25 and 110), it would be better to format the main function signature as int main() {.
| int main(){ | |
| int main() { |
| int motor1_position = result[1]["position"]; | ||
| int motor2_position = result[2]["position"]; |
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The new api_reference_smart_group.md file documents the get<T>(id, key) method for SmartGroupReader, which returns a std::optional. For consistency and to better demonstrate the new API, I suggest using this method here. This also provides an opportunity to show how to safely unwrap the optional value.
Using result[id][key] might be a convenient shorthand, but get<T>() is more explicit and type-safe. If the [] operator is intended to be a primary way of access, it should also be documented in the API reference.
| int motor1_position = result[1]["position"]; | |
| int motor2_position = result[2]["position"]; | |
| int motor1_position = result.get<int32_t>(1, "position").value(); | |
| int motor2_position = result.get<int32_t>(2, "position").value(); |
| ## [Create Connector](#create-connector) | ||
| - Create a `Connector` object with port name, baud rate, and protocol version. | ||
| ```cpp | ||
| int main(){ |
There was a problem hiding this comment.
For consistency with other code snippets in this file (e.g., line 25 and 111), it would be better to format the main function signature as int main() {.
| int main(){ | |
| int main() { |
| follower_writer->write({ | ||
| result[1]["position"], | ||
| result[2]["position"], | ||
| result[3]["position"], | ||
| result[4]["position"], | ||
| result[5]["position"], | ||
| result[6]["position"] | ||
| }); |
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Similar to the feedback on step6_cpp.md, for consistency with the new API reference, it would be clearer to use the get<T>() method. Since read_or_throw() is used, it's reasonable to assume the values will be present, so using .value() to unwrap the std::optional is acceptable here. This makes the code more explicit about the types and the access mechanism.
| follower_writer->write({ | |
| result[1]["position"], | |
| result[2]["position"], | |
| result[3]["position"], | |
| result[4]["position"], | |
| result[5]["position"], | |
| result[6]["position"] | |
| }); | |
| follower_writer->write({ | |
| result.get<int32_t>(1, "position").value(), | |
| result.get<int32_t>(2, "position").value(), | |
| result.get<int32_t>(3, "position").value(), | |
| result.get<int32_t>(4, "position").value(), | |
| result.get<int32_t>(5, "position").value(), | |
| result.get<int32_t>(6, "position").value() | |
| }); |
| - You can compile and run the code using the following commands | ||
| ```bash | ||
| $ g++ dxl_tutorial_step4.cpp -o dxl_tutorial_step4 -l dxl_x64_cpp | ||
| $ g++ dxl_tutorial_step4.cpp -o dxl_tutorial_step4 -ldxl_cpp |
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For consistency with the other tutorials (e.g., tutorial_step1.cpp, tutorial_step2.cpp), the filename in the compile command should probably be tutorial_step4.cpp instead of dxl_tutorial_step4.cpp.
| $ g++ dxl_tutorial_step4.cpp -o dxl_tutorial_step4 -ldxl_cpp | |
| $ g++ tutorial_step4.cpp -o tutorial_step4 -ldxl_cpp |
1 participant
This PR focuses on making the Dynamixel Easy SDK documentation more consistent, readable, and developer-friendly.
ROBOTIS-GIT/DynamixelSDK#676