From 6801581329c144ba88b51c68a1d5e4fa7b628c53 Mon Sep 17 00:00:00 2001
From: ashekim <ashekim@robotis.com>
Date: Tue, 7 Dec 2021 15:52:27 +0900
Subject: [PATCH 01/24] init fast sync function

---
 .../fast_sync_read/fast_sync_read.ino         | 230 ++++++++++++++++++
 src/dxl_c/protocol.h                          |   1 +
 src/utility/master.cpp                        |  91 +++++++
 src/utility/master.h                          |  16 ++
 4 files changed, 338 insertions(+)
 create mode 100644 examples/advanced/fast_sync_read/fast_sync_read.ino

diff --git a/examples/advanced/fast_sync_read/fast_sync_read.ino b/examples/advanced/fast_sync_read/fast_sync_read.ino
new file mode 100644
index 0000000..edadd4b
--- /dev/null
+++ b/examples/advanced/fast_sync_read/fast_sync_read.ino
@@ -0,0 +1,230 @@
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+
+/* FastsyncRead
+  DYNAMIXEL PROTOCOL 1.0 does NOT support Sync Read feature.
+  Structures containing the necessary information to process the 'fastSyncRead' packet.
+
+  typedef struct XELInfoFastSyncRead{
+  uint8_t *p_recv_buf;
+  uint8_t id;
+  uint8_t error;
+} __attribute__((packed)) XELInfoFastSyncRead_t;
+
+typedef struct InfoFastSyncReadInst{
+  uint16_t addr;
+  uint16_t addr_length;
+  XELInfoFastSyncRead_t* p_xels;
+  uint8_t xel_count;
+  bool is_info_changed;
+  InfoSyncBulkBuffer_t packet;
+} __attribute__((packed)) InfoFastSyncReadInst_t;
+*/
+
+/* syncWrite
+  DYNAMIXEL PROTOCOL 1.0 supports Control Table address up to 255.
+  Structures containing the necessary information to process the 'syncWrite' packet.
+
+  typedef struct XELInfoSyncWrite{
+    uint8_t* p_data;
+    uint8_t id;
+} __attribute__((packed)) XELInfoSyncWrite_t;
+
+  typedef struct InfoSyncWriteInst{
+    uint16_t addr;
+    uint16_t addr_length;
+    XELInfoSyncWrite_t* p_xels;
+    uint8_t xel_count;
+    bool is_info_changed;
+    InfoSyncBulkBuffer_t packet;
+} __attribute__((packed)) InfoSyncWriteInst_t;
+*/
+
+const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
+const uint8_t BROADCAST_ID = 254;
+const uint8_t DXL_ID_CNT = 2;
+const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {1, 2};
+const uint16_t user_pkt_buf_cap = 128;
+uint8_t user_pkt_buf[user_pkt_buf_cap];
+
+const uint16_t SR_START_ADDR = 126;
+const uint16_t SR_ADDR_LEN = 10; //2+4+4
+const uint16_t SW_START_ADDR = 116; //Goal position
+const uint16_t SW_ADDR_LEN = 4;
+
+typedef struct sr_data{
+  int16_t present_current;
+  int32_t present_velocity;
+  int32_t present_position;
+} __attribute__((packed)) sr_data_t;
+typedef struct sw_data{
+  int32_t goal_position;
+} __attribute__((packed)) sw_data_t;
+
+
+sr_data_t sr_data[DXL_ID_CNT];
+DYNAMIXEL::InfoFastSyncReadInst_t sr_infos;
+DYNAMIXEL::XELInfoFastSyncRead_t info_xels_sr[DXL_ID_CNT];
+
+sw_data_t sw_data[DXL_ID_CNT];
+DYNAMIXEL::InfoSyncWriteInst_t sw_infos;
+DYNAMIXEL::XELInfoSyncWrite_t info_xels_sw[DXL_ID_CNT];
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+  uint8_t i;
+  pinMode(LED_BUILTIN, OUTPUT);
+  DEBUG_SERIAL.begin(115200);
+  dxl.begin(57600);
+  dxl.setPortProtocolVersion(DYNAMIXEL_PROTOCOL_VERSION);
+  
+  for(i=0; i<DXL_ID_CNT; i++){
+    dxl.torqueOff(DXL_ID_LIST[i]);
+    dxl.setOperatingMode(DXL_ID_LIST[i], OP_POSITION);
+  }
+  dxl.torqueOn(BROADCAST_ID);
+
+  // Fill the members of structure to fastSyncRead using external user packet buffer
+  sr_infos.packet.buf_capacity = user_pkt_buf_cap;
+  sr_infos.packet.p_buf = user_pkt_buf;
+  sr_infos.packet.is_completed = false;
+  sr_infos.addr = SR_START_ADDR;
+  sr_infos.addr_length = SR_ADDR_LEN;
+  sr_infos.p_xels = info_xels_sr;
+  sr_infos.xel_count = 0;  
+
+  for(i=0; i<DXL_ID_CNT; i++){
+    info_xels_sr[i].id = DXL_ID_LIST[i];
+    info_xels_sr[i].p_recv_buf = (uint8_t*)&sr_data[i];
+    sr_infos.xel_count++;
+  }
+  sr_infos.is_info_changed = true;
+
+
+  // Fill the members of structure to syncWrite using internal packet buffer
+  sw_infos.packet.p_buf = nullptr;
+  sw_infos.packet.is_completed = false;
+  sw_infos.addr = SW_START_ADDR;
+  sw_infos.addr_length = SW_ADDR_LEN;
+  sw_infos.p_xels = info_xels_sw;
+  sw_infos.xel_count = 0;
+
+  sw_data[0].goal_position = 0; 
+  sw_data[1].goal_position = 0; 
+
+  for(i=0; i<DXL_ID_CNT; i++){
+    info_xels_sw[i].id = DXL_ID_LIST[i];
+    info_xels_sw[i].p_data = (uint8_t*)&sw_data[i].goal_position;
+    sw_infos.xel_count++;
+  }
+  sw_infos.is_info_changed = true;
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  static uint32_t try_count = 0;
+  uint8_t i, recv_cnt;
+
+  for(i = 0; i < DXL_ID_CNT; i++){
+    sw_data[i].goal_position = 255 + sw_data[i].goal_position;
+    if(sw_data[i].goal_position >= 1023){
+      sw_data[i].goal_position = 0;
+    }
+  }
+
+  sw_infos.is_info_changed = true;
+
+  DEBUG_SERIAL.print("\n>>>>>> Sync Instruction Test : ");
+  DEBUG_SERIAL.println(try_count++);
+  if(dxl.syncWrite(&sw_infos) == true){
+    DEBUG_SERIAL.println("[SyncWrite] Success");
+    for(i=0; i<sw_infos.xel_count; i++){
+      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.println(sw_infos.p_xels[i].id);
+      DEBUG_SERIAL.print("\t Goal Velocity: ");DEBUG_SERIAL.println(sw_data[i].goal_position);
+    }
+  }else{
+    DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
+    DEBUG_SERIAL.print(dxl.getLastLibErrCode());
+  }
+  DEBUG_SERIAL.println();
+
+  delay(250);
+
+  recv_cnt = dxl.fastSyncRead(&sr_infos);
+
+  // DEBUG_SERIAL.print("\t dxl.fastSyncRead(&sr_infos) : ");DEBUG_SERIAL.println(recv_cnt);
+
+  if(recv_cnt > 0){
+    DEBUG_SERIAL.print("[fastSyncRead] Success, Received ID Count: ");
+    DEBUG_SERIAL.println(recv_cnt);
+    for(i=0; i<recv_cnt; i++){
+      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sr_infos.p_xels[i].id);
+      DEBUG_SERIAL.print(", Error: ");DEBUG_SERIAL.println(sr_infos.p_xels[i].error);
+      DEBUG_SERIAL.print("\t Present Current: ");DEBUG_SERIAL.println(sr_data[i].present_current);
+      DEBUG_SERIAL.print("\t Present Velocity: ");DEBUG_SERIAL.println(sr_data[i].present_velocity);
+      DEBUG_SERIAL.print("\t Present Position: ");DEBUG_SERIAL.println(sr_data[i].present_position);
+    }
+  } else{
+    DEBUG_SERIAL.print("[fastSyncRead] Fail, Lib error code: ");
+    DEBUG_SERIAL.println(dxl.getLastLibErrCode());
+  }
+
+  DEBUG_SERIAL.println("=======================================================");
+
+  digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
+  delay(750);
+}
diff --git a/src/dxl_c/protocol.h b/src/dxl_c/protocol.h
index b586b56..9bb2b14 100644
--- a/src/dxl_c/protocol.h
+++ b/src/dxl_c/protocol.h
@@ -40,6 +40,7 @@ enum DXLInstruction{
   DXL_INST_CLEAR = 0x10, //ONLY Protocol2.0
   DXL_INST_STATUS = 0x55, //ONLY Protocol2.0
   DXL_INST_SYNC_READ = 0x82, //ONLY Protocol2.0
+  DXL_INST_FAST_SYNC_READ = 0x8A, //ONLY Protocol2.0
   DXL_INST_SYNC_WRITE = 0x83,
   DXL_INST_BULK_READ = 0x92,
   DXL_INST_BULK_WRITE = 0x93 //ONLY Protocol2.0
diff --git a/src/utility/master.cpp b/src/utility/master.cpp
index f5bfe7e..c27ec21 100644
--- a/src/utility/master.cpp
+++ b/src/utility/master.cpp
@@ -666,6 +666,97 @@ Master::syncRead(InfoSyncReadInst_t* p_info, uint32_t timeout_ms)
   return recv_cnt;
 }
 
+// FastSyncRead
+uint8_t
+Master::fastSyncRead(InfoFastSyncReadInst_t* p_info, uint32_t timeout_ms)
+{
+  uint8_t i, recv_cnt = 0;
+  DXLLibErrorCode_t err = DXL_LIB_OK;
+  uint8_t tx_param[4], param_len = 0;
+  uint8_t* p_packet_buf = nullptr;
+  uint16_t packet_buf_cap;
+  XELInfoFastSyncRead_t* p_xel;
+
+  // Parameter exception handling
+  if(p_port_ == nullptr){
+    err = DXL_LIB_ERROR_NULLPTR;
+  }else if(p_port_->getOpenState() != true){
+    err = DXL_LIB_ERROR_PORT_NOT_OPEN;
+  }else if(protocol_ver_idx_ != 2){
+    err = DXL_LIB_ERROR_NOT_SUPPORTED;
+  }
+  if(err != DXL_LIB_OK){
+    last_lib_err_ = err;
+    return 0;
+  }
+
+  if(p_info->packet.p_buf != nullptr){
+    p_packet_buf = p_info->packet.p_buf;
+    packet_buf_cap = p_info->packet.buf_capacity;
+  }else{
+    p_packet_buf = p_packet_buf_;
+    packet_buf_cap = packet_buf_capacity_;
+  }
+
+  if(p_info->packet.p_buf == nullptr && info_tx_packet_.inst_idx != DXL_INST_FAST_SYNC_READ){
+    p_info->packet.is_completed = false;
+  }
+
+  if(p_info->packet.is_completed == false || p_info->is_info_changed == true){
+    err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_,
+      DXL_INST_FAST_SYNC_READ, 0, p_packet_buf, packet_buf_cap);
+    if(err == DXL_LIB_OK){
+      tx_param[param_len++] = p_info->addr >> 0;
+      tx_param[param_len++] = p_info->addr >> 8;
+      tx_param[param_len++] = p_info->addr_length >> 0;
+      tx_param[param_len++] = p_info->addr_length >> 8;
+      err = add_param_to_dxl_packet(&info_tx_packet_, tx_param, param_len);
+      if(err == DXL_LIB_OK){
+        for(i=0; i<p_info->xel_count; i++){
+          p_xel = &p_info->p_xels[i];
+          err = add_param_to_dxl_packet(&info_tx_packet_, &p_xel->id, 1);
+          if(err != DXL_LIB_OK){
+            break;
+          }
+        }
+        if(err == DXL_LIB_OK){
+          err = end_make_dxl_packet(&info_tx_packet_);
+          if(err == DXL_LIB_OK){
+            p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
+            p_info->packet.is_completed = true;
+            p_info->is_info_changed = false;
+          }
+        }
+      }
+    }
+  }
+
+  if(err == DXL_LIB_OK){
+    p_port_->write(p_packet_buf, p_info->packet.gen_length);
+
+    for(i=0; i<p_info->xel_count; i++)
+    {
+      p_xel = &p_info->p_xels[i];
+      if(rxStatusPacket(p_xel->p_recv_buf, p_info->addr_length, timeout_ms) != nullptr){
+        if(info_rx_packet_.id == p_xel->id){
+          p_xel->error = info_rx_packet_.err_idx;
+          recv_cnt++;
+        }else{
+          break;
+        }
+      }else{
+        break;
+      }
+    }
+  }else{
+    p_info->packet.is_completed = false;
+  }
+  last_lib_err_ = err;
+
+  return recv_cnt;
+}
+
+
 
 // (Protocol 1.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol1/#sync-write
 // (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#sync-write
diff --git a/src/utility/master.h b/src/utility/master.h
index b44c22e..9755e30 100644
--- a/src/utility/master.h
+++ b/src/utility/master.h
@@ -120,6 +120,21 @@ typedef struct InfoSyncReadInst{
   InfoSyncBulkBuffer_t packet;
 } __attribute__((packed)) InfoSyncReadInst_t;
 
+typedef struct XELInfoFastSyncRead{
+  uint8_t *p_recv_buf;
+  uint8_t id;
+  uint8_t error;
+} __attribute__((packed)) XELInfoFastSyncRead_t;
+
+typedef struct InfoFastSyncReadInst{
+  uint16_t addr;
+  uint16_t addr_length;
+  XELInfoFastSyncRead_t* p_xels;
+  uint8_t xel_count;
+  bool is_info_changed;
+  InfoSyncBulkBuffer_t packet;
+} __attribute__((packed)) InfoFastSyncReadInst_t;
+
 typedef struct XELInfoSyncWrite{
   uint8_t* p_data;
   uint8_t id;
@@ -224,6 +239,7 @@ class Master
     bool reboot(uint8_t id, uint32_t timeout_ms = 10);
     bool clear(uint8_t id, uint8_t option, uint32_t ex_option, uint32_t timeout_ms = 10);
     uint8_t syncRead(InfoSyncReadInst_t* p_info, uint32_t timeout_ms = 10);
+    uint8_t fastSyncRead(InfoFastSyncReadInst_t* p_info, uint32_t timeout_ms = 10);
     bool syncWrite(InfoSyncWriteInst_t* p_info);
     uint8_t bulkRead(InfoBulkReadInst_t* p_info, uint32_t timeout_ms = 10);
     bool bulkWrite(InfoBulkWriteInst_t* p_info);

From 91f98215ef75689b2da44fa30c5f1e84da8bcb45 Mon Sep 17 00:00:00 2001
From: ashekim <ashekim@robotis.com>
Date: Tue, 7 Dec 2021 18:07:43 +0900
Subject: [PATCH 02/24] update fast sync function

---
 src/dxl_c/protocol.c   | 215 +++++++++++++++++++++++++++++++++++++++++
 src/dxl_c/protocol.h   |   2 +-
 src/utility/master.cpp |  53 +++++++++-
 src/utility/master.h   |   1 +
 4 files changed, 269 insertions(+), 2 deletions(-)

diff --git a/src/dxl_c/protocol.c b/src/dxl_c/protocol.c
index 95de6f2..49d4c00 100644
--- a/src/dxl_c/protocol.c
+++ b/src/dxl_c/protocol.c
@@ -48,6 +48,7 @@
 //
 static DXLLibErrorCode_t parse_dxl1_0_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data);
 static DXLLibErrorCode_t parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data);
+static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data);
 
 static DXLLibErrorCode_t add_param_to_dxl1_0_packet(InfoToMakeDXLPacket_t* p_make_packet, uint8_t *p_param, uint16_t param_len);
 static DXLLibErrorCode_t add_param_to_dxl2_0_packet(InfoToMakeDXLPacket_t* p_make_packet, uint8_t *p_param, uint16_t param_len);
@@ -371,6 +372,27 @@ DXLLibErrorCode_t parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8
   return ret;
 }
 
+DXLLibErrorCode_t fast_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data)
+{
+  DXLLibErrorCode_t ret;
+
+  if(p_parse_packet == NULL){
+    return DXL_LIB_ERROR_NULLPTR;
+  }else if(p_parse_packet->is_init == false){
+    return DXL_LIB_ERROR_NOT_INITIALIZED;
+  } 
+
+  if(p_parse_packet->protocol_ver == 2){
+    ret = fast_parse_dxl2_0_packet(p_parse_packet, recv_data);
+  }else if(p_parse_packet->protocol_ver == 1){
+    ret = parse_dxl1_0_packet(p_parse_packet, recv_data);
+  }else{
+    ret = DXL_LIB_ERROR_INVAILD_PROTOCOL_VERSION;
+  }
+
+  return ret;
+}
+
 static DXLLibErrorCode_t parse_dxl1_0_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data)
 {
   DXLLibErrorCode_t ret = DXL_LIB_PROCEEDING;
@@ -656,6 +678,199 @@ static DXLLibErrorCode_t parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_parse_pac
 }
 
 
+//fast_parse_dxl2_0_packet
+static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data)
+{
+  DXLLibErrorCode_t ret = DXL_LIB_PROCEEDING;
+  uint16_t byte_stuffing_cnt = 0;
+
+  switch(p_parse_packet->parse_state)
+  {
+    case DXL2_0_PACKET_PARSING_STATE_IDLE:
+      if(p_parse_packet->header_cnt >= 3){
+        p_parse_packet->header_cnt = 0;
+      }
+      p_parse_packet->header[p_parse_packet->header_cnt++] = recv_data;
+      if(p_parse_packet->header_cnt == 3){
+        if(p_parse_packet->header[0] == 0xFF
+        && p_parse_packet->header[1] == 0xFF
+        && p_parse_packet->header[2] == 0xFD){
+          p_parse_packet->recv_param_len = 0;
+          p_parse_packet->calculated_crc = 0;
+          update_dxl_crc(&p_parse_packet->calculated_crc, 0xFF);
+          update_dxl_crc(&p_parse_packet->calculated_crc, 0xFF);
+          update_dxl_crc(&p_parse_packet->calculated_crc, 0xFD);          
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_RESERVED;
+        }else{
+          p_parse_packet->header[0] = p_parse_packet->header[1];
+          p_parse_packet->header[1] = p_parse_packet->header[2];
+          p_parse_packet->header_cnt--;
+        }
+      }
+      break;
+
+    case DXL2_0_PACKET_PARSING_STATE_RESERVED:
+      if(recv_data != 0xFD){ // http://emanual.robotis.com/docs/en/dxl/protocol2/#reserved
+        p_parse_packet->reserved = recv_data;
+        update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ID;
+      }else{
+        ret = DXL_LIB_ERROR_WRONG_PACKET;
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+      }
+      break;
+
+    case DXL2_0_PACKET_PARSING_STATE_ID:
+      if(recv_data < 0xFD || recv_data == DXL_BROADCAST_ID){ //http://emanual.robotis.com/docs/en/dxl/protocol2/#packet-id
+        p_parse_packet->id = recv_data;
+        update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_LENGTH_L;
+      }else{
+        ret = DXL_LIB_ERROR_INVAILD_ID;
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+      }
+      break;
+
+    case DXL2_0_PACKET_PARSING_STATE_LENGTH_L:
+      p_parse_packet->packet_len = recv_data;
+      update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+      p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_LENGTH_H;
+      break;
+
+    case DXL2_0_PACKET_PARSING_STATE_LENGTH_H:
+      p_parse_packet->packet_len |= recv_data<<8;
+      update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+      if(p_parse_packet->packet_len < 3){ // 3 = Instruction(1)+CRC(2)
+        ret = DXL_LIB_ERROR_LENGTH;
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+      }else{
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_INST;
+      }
+      break;
+
+    case DXL2_0_PACKET_PARSING_STATE_INST:
+      p_parse_packet->inst_idx = recv_data;
+      update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+      p_parse_packet->recv_param_len = 0;
+      p_parse_packet->err_idx = 0;
+      if(recv_data == DXL_INST_STATUS){
+        if(p_parse_packet->packet_len < 4){ // 4 = Instruction(1)+Error(1)+CRC(2)
+          ret = DXL_LIB_ERROR_LENGTH;
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+        }else if(p_parse_packet->packet_len > p_parse_packet->param_buf_capacity+4){ // 4 = Instruction(1)+Error(1)+CRC(2)
+          ret = DXL_LIB_ERROR_BUFFER_OVERFLOW;
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+        }else{
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ERROR;
+        }
+      }else{
+        if(p_parse_packet->packet_len > p_parse_packet->param_buf_capacity+3){ // 3 = Instruction(1)+CRC(2)
+          ret = DXL_LIB_ERROR_BUFFER_OVERFLOW;
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+        }else if(p_parse_packet->packet_len == 3){ // 3 = Instruction(1)+CRC(2)
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
+        }else{
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_PARAM;
+        }
+      }
+      break;
+
+    case DXL2_0_PACKET_PARSING_STATE_ERROR:
+      p_parse_packet->err_idx = recv_data;
+      update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+      if(p_parse_packet->packet_len == 4){ // 4 = Instruction(1)+Error(1)+CRC(2)
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
+        break;
+      }
+      p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_PARAM;
+      break;
+
+    case DXL2_0_PACKET_PARSING_STATE_PARAM:
+      if(p_parse_packet->p_param_buf == NULL){
+        ret = DXL_LIB_ERROR_NULLPTR;
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+      }
+
+      p_parse_packet->p_param_buf[p_parse_packet->recv_param_len++] = recv_data;
+      update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+
+      //Remove byte stuffing (http://emanual.robotis.com/docs/en/dxl/protocol2/#processing-order-of-reception)
+      if(p_parse_packet->inst_idx == DXL_INST_STATUS){
+        if(p_parse_packet->recv_param_len >= 4){
+          if(p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-4] == 0xFF
+          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-3] == 0xFF
+          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-2] == 0xFD
+          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-1] == 0xFD){
+            p_parse_packet->recv_param_len--;
+            byte_stuffing_cnt++;
+          }
+        }else if(p_parse_packet->recv_param_len == 3){
+          if(p_parse_packet->err_idx == 0xFF
+          && p_parse_packet->p_param_buf[0] == 0xFF
+          && p_parse_packet->p_param_buf[1] == 0xFD
+          && p_parse_packet->p_param_buf[2] == 0xFD){
+            p_parse_packet->recv_param_len--;
+            byte_stuffing_cnt++;
+          }
+        }else if(p_parse_packet->recv_param_len == 2){
+          if(p_parse_packet->inst_idx == 0xFF
+          && p_parse_packet->err_idx == 0xFF
+          && p_parse_packet->p_param_buf[0] == 0xFD
+          && p_parse_packet->p_param_buf[1] == 0xFD){
+            p_parse_packet->recv_param_len--;
+            byte_stuffing_cnt++;
+          }
+        }
+        if(p_parse_packet->recv_param_len+byte_stuffing_cnt+4 == p_parse_packet->packet_len){ // 4 = Instruction(1)+Error(1)+CRC(2)
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
+        }
+      }else{
+        if(p_parse_packet->recv_param_len >= 4){
+          if(p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-4] == 0xFF
+          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-3] == 0xFF
+          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-2] == 0xFD
+          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-1] == 0xFD){
+            p_parse_packet->recv_param_len--;
+            byte_stuffing_cnt++;
+          }
+        }else if(p_parse_packet->recv_param_len == 3){
+          if(p_parse_packet->inst_idx == 0xFF
+          && p_parse_packet->p_param_buf[0] == 0xFF
+          && p_parse_packet->p_param_buf[1] == 0xFD
+          && p_parse_packet->p_param_buf[2] == 0xFD){
+            p_parse_packet->recv_param_len--;
+            byte_stuffing_cnt++;
+          }
+        }
+        if(p_parse_packet->recv_param_len+byte_stuffing_cnt+3 == p_parse_packet->packet_len){ // 3 = Instruction(1)+CRC(2)
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
+        }
+      }
+      break;
+
+    case DXL2_0_PACKET_PARSING_STATE_CRC_L:
+      p_parse_packet->recv_crc = recv_data;
+      p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_H;
+      break;
+
+    case DXL2_0_PACKET_PARSING_STATE_CRC_H:
+      p_parse_packet->recv_crc |= recv_data<<8;
+      if (p_parse_packet->calculated_crc == p_parse_packet->recv_crc){
+        ret = DXL_LIB_OK;
+      }else{
+        ret = DXL_LIB_ERROR_CRC;
+      }
+      p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+      break;
+
+    default:
+      p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+      break;
+  }
+
+  return ret;  
+}
+
 
 const unsigned short crc_table[256] PROGMEM = { 0x0000,
   0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011,
diff --git a/src/dxl_c/protocol.h b/src/dxl_c/protocol.h
index 9bb2b14..7d10336 100644
--- a/src/dxl_c/protocol.h
+++ b/src/dxl_c/protocol.h
@@ -164,7 +164,7 @@ DXLLibErrorCode_t end_make_dxl_packet(InfoToMakeDXLPacket_t* p_make_packet);
 DXLLibErrorCode_t begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, 
   uint8_t protocol_ver, uint8_t* p_param_buf, uint16_t param_buf_cap);
 DXLLibErrorCode_t parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data);
-
+DXLLibErrorCode_t fast_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data);
 
 #ifdef __cplusplus
 }
diff --git a/src/utility/master.cpp b/src/utility/master.cpp
index c27ec21..aa07a1d 100644
--- a/src/utility/master.cpp
+++ b/src/utility/master.cpp
@@ -737,7 +737,7 @@ Master::fastSyncRead(InfoFastSyncReadInst_t* p_info, uint32_t timeout_ms)
     for(i=0; i<p_info->xel_count; i++)
     {
       p_xel = &p_info->p_xels[i];
-      if(rxStatusPacket(p_xel->p_recv_buf, p_info->addr_length, timeout_ms) != nullptr){
+      if(fastRxStatusPacket(p_xel->p_recv_buf, p_info->addr_length, timeout_ms) != nullptr){
         if(info_rx_packet_.id == p_xel->id){
           p_xel->error = info_rx_packet_.err_idx;
           recv_cnt++;
@@ -1146,6 +1146,57 @@ Master::rxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_t ti
 }
 
 
+//fastRxStatusPacket
+const InfoToParseDXLPacket_t* 
+Master::fastRxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_t timeout_ms)
+{
+  InfoToParseDXLPacket_t *p_ret = nullptr;
+  DXLLibErrorCode_t err = DXL_LIB_OK;
+  uint32_t pre_time_ms;
+
+  // Parameter exception handling
+  if(p_port_ == nullptr
+  || (param_buf_cap > 0 && p_param_buf == nullptr)){
+    err = DXL_LIB_ERROR_NULLPTR;
+  }else if(p_port_->getOpenState() != true){
+    err = DXL_LIB_ERROR_PORT_NOT_OPEN;
+  }
+  if(err != DXL_LIB_OK){
+    last_lib_err_ = err;
+    return nullptr;
+  }
+
+  // Receive Status Packet
+  err = begin_parse_dxl_packet(&info_rx_packet_, protocol_ver_idx_, p_param_buf, param_buf_cap);
+  if(err == DXL_LIB_OK){
+    pre_time_ms = millis();
+    while(1) 
+    {
+      if(p_port_->available() > 0){
+        err = fast_parse_dxl_packet(&info_rx_packet_, p_port_->read());
+        if(err == DXL_LIB_OK){
+          if((protocol_ver_idx_ == 2 && info_rx_packet_.inst_idx == DXL_INST_STATUS)
+          || protocol_ver_idx_ == 1){
+            p_ret = &info_rx_packet_;
+            break;
+          }
+        }else if(err != DXL_LIB_PROCEEDING){
+          break;
+        }
+      }
+
+      if (millis()-pre_time_ms >= timeout_ms) {
+        err = DXL_LIB_ERROR_TIMEOUT;
+        break;
+      }
+    }
+  }
+
+  last_lib_err_ = err;
+
+  return p_ret;
+}
+
 
 
 // >> Legacy (Deprecated since v0.4.0)
diff --git a/src/utility/master.h b/src/utility/master.h
index 9755e30..8624bbf 100644
--- a/src/utility/master.h
+++ b/src/utility/master.h
@@ -252,6 +252,7 @@ class Master
     // raw APIs
     bool txInstPacket(uint8_t id, uint8_t inst_idx, uint8_t *p_param, uint16_t param_len);
     const InfoToParseDXLPacket_t* rxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_t timeout_ms = 10);
+    const InfoToParseDXLPacket_t* fastRxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_t timeout_ms = 10);
 
     // >> Legacy (Deprecated since v0.4.0)
     bool syncRead(const ParamForSyncReadInst_t &param_info, RecvInfoFromStatusInst_t &recv_info, uint32_t timeout_ms = 100);

From 456bae22ca55a2bb4c4a6ae93fc8c388b77cb9ff Mon Sep 17 00:00:00 2001
From: ashekim <ashekim@robotis.com>
Date: Mon, 20 Dec 2021 16:33:48 +0900
Subject: [PATCH 03/24] update fast sync

---
 .../fast_sync_read/fast_sync_read.ino         |  33 +-
 src/dxl_c/protocol.c                          | 305 ++++++++----------
 src/dxl_c/protocol.h                          |   4 +
 src/utility/master.cpp                        |  41 ++-
 src/utility/master.h                          |   2 +-
 5 files changed, 180 insertions(+), 205 deletions(-)

diff --git a/examples/advanced/fast_sync_read/fast_sync_read.ino b/examples/advanced/fast_sync_read/fast_sync_read.ino
index edadd4b..2d95c0b 100644
--- a/examples/advanced/fast_sync_read/fast_sync_read.ino
+++ b/examples/advanced/fast_sync_read/fast_sync_read.ino
@@ -14,6 +14,8 @@
 * limitations under the License.
 *******************************************************************************/
 
+// Author: Ashe Kim
+
 #include <Dynamixel2Arduino.h>
 
 
@@ -95,14 +97,12 @@ const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {1, 2};
 const uint16_t user_pkt_buf_cap = 128;
 uint8_t user_pkt_buf[user_pkt_buf_cap];
 
-const uint16_t SR_START_ADDR = 126;
-const uint16_t SR_ADDR_LEN = 10; //2+4+4
+const uint16_t SR_START_ADDR = 132; //Present position
+const uint16_t SR_ADDR_LEN = 4;
 const uint16_t SW_START_ADDR = 116; //Goal position
 const uint16_t SW_ADDR_LEN = 4;
 
 typedef struct sr_data{
-  int16_t present_current;
-  int32_t present_velocity;
   int32_t present_position;
 } __attribute__((packed)) sr_data_t;
 typedef struct sw_data{
@@ -120,12 +120,13 @@ DYNAMIXEL::XELInfoSyncWrite_t info_xels_sw[DXL_ID_CNT];
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
 
-
 //This namespace is required to use Control table item names
 using namespace ControlTableItem;
 
+int32_t goal_position[2] = {1024, 2048};
+uint8_t goal_position_index = 0;
+
 void setup() {
-  // put your setup code here, to run once:
   uint8_t i;
   pinMode(LED_BUILTIN, OUTPUT);
   DEBUG_SERIAL.begin(115200);
@@ -175,15 +176,11 @@ void setup() {
 }
 
 void loop() {
-  // put your main code here, to run repeatedly:
   static uint32_t try_count = 0;
   uint8_t i, recv_cnt;
 
   for(i = 0; i < DXL_ID_CNT; i++){
-    sw_data[i].goal_position = 255 + sw_data[i].goal_position;
-    if(sw_data[i].goal_position >= 1023){
-      sw_data[i].goal_position = 0;
-    }
+    sw_data[i].goal_position = goal_position[goal_position_index];
   }
 
   sw_infos.is_info_changed = true;
@@ -193,9 +190,13 @@ void loop() {
   if(dxl.syncWrite(&sw_infos) == true){
     DEBUG_SERIAL.println("[SyncWrite] Success");
     for(i=0; i<sw_infos.xel_count; i++){
-      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.println(sw_infos.p_xels[i].id);
-      DEBUG_SERIAL.print("\t Goal Velocity: ");DEBUG_SERIAL.println(sw_data[i].goal_position);
+      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sw_infos.p_xels[i].id);
+      DEBUG_SERIAL.print("\t Goal Position: ");DEBUG_SERIAL.println(sw_data[i].goal_position);
     }
+    if(goal_position_index == 0)
+      goal_position_index = 1;
+    else
+      goal_position_index = 0;    
   }else{
     DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
     DEBUG_SERIAL.print(dxl.getLastLibErrCode());
@@ -205,17 +206,11 @@ void loop() {
   delay(250);
 
   recv_cnt = dxl.fastSyncRead(&sr_infos);
-
-  // DEBUG_SERIAL.print("\t dxl.fastSyncRead(&sr_infos) : ");DEBUG_SERIAL.println(recv_cnt);
-
   if(recv_cnt > 0){
     DEBUG_SERIAL.print("[fastSyncRead] Success, Received ID Count: ");
     DEBUG_SERIAL.println(recv_cnt);
     for(i=0; i<recv_cnt; i++){
       DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sr_infos.p_xels[i].id);
-      DEBUG_SERIAL.print(", Error: ");DEBUG_SERIAL.println(sr_infos.p_xels[i].error);
-      DEBUG_SERIAL.print("\t Present Current: ");DEBUG_SERIAL.println(sr_data[i].present_current);
-      DEBUG_SERIAL.print("\t Present Velocity: ");DEBUG_SERIAL.println(sr_data[i].present_velocity);
       DEBUG_SERIAL.print("\t Present Position: ");DEBUG_SERIAL.println(sr_data[i].present_position);
     }
   } else{
diff --git a/src/dxl_c/protocol.c b/src/dxl_c/protocol.c
index 49d4c00..b087fc4 100644
--- a/src/dxl_c/protocol.c
+++ b/src/dxl_c/protocol.c
@@ -328,8 +328,6 @@ static DXLLibErrorCode_t end_make_dxl2_0_packet(InfoToMakeDXLPacket_t* p_make_pa
   return DXL_LIB_OK;
 }
 
-
-
 DXLLibErrorCode_t begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, 
   uint8_t protocol_ver, uint8_t* p_param_buf, uint16_t param_buf_capacity)
 {
@@ -351,6 +349,26 @@ DXLLibErrorCode_t begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet,
   return DXL_LIB_OK;
 }
 
+DXLLibErrorCode_t fast_begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, 
+  uint8_t protocol_ver, uint8_t* p_param_buf, uint16_t param_buf_capacity, uint8_t xel_count)
+{
+  if(param_buf_capacity > 0 && p_param_buf == NULL){
+    return DXL_LIB_ERROR_NULLPTR;
+  }
+  
+  if(protocol_ver != 1 && protocol_ver != 2){
+    return DXL_LIB_ERROR_INVAILD_PROTOCOL_VERSION;
+  }
+
+  p_parse_packet->protocol_ver = protocol_ver;
+  p_parse_packet->p_param_buf = p_param_buf;
+  p_parse_packet->param_buf_capacity = param_buf_capacity;
+  p_parse_packet->xel_count = xel_count;
+  p_parse_packet->is_init = true;
+
+  return DXL_LIB_OK;
+}
+
 DXLLibErrorCode_t parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data)
 {
   DXLLibErrorCode_t ret;
@@ -677,7 +695,6 @@ static DXLLibErrorCode_t parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_parse_pac
   return ret;  
 }
 
-
 //fast_parse_dxl2_0_packet
 static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data)
 {
@@ -685,188 +702,150 @@ static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_pars
   uint16_t byte_stuffing_cnt = 0;
 
   switch(p_parse_packet->parse_state)
-  {
-    case DXL2_0_PACKET_PARSING_STATE_IDLE:
-      if(p_parse_packet->header_cnt >= 3){
-        p_parse_packet->header_cnt = 0;
-      }
-      p_parse_packet->header[p_parse_packet->header_cnt++] = recv_data;
-      if(p_parse_packet->header_cnt == 3){
-        if(p_parse_packet->header[0] == 0xFF
-        && p_parse_packet->header[1] == 0xFF
-        && p_parse_packet->header[2] == 0xFD){
-          p_parse_packet->recv_param_len = 0;
-          p_parse_packet->calculated_crc = 0;
-          update_dxl_crc(&p_parse_packet->calculated_crc, 0xFF);
-          update_dxl_crc(&p_parse_packet->calculated_crc, 0xFF);
-          update_dxl_crc(&p_parse_packet->calculated_crc, 0xFD);          
-          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_RESERVED;
+    {
+      case DXL2_0_PACKET_PARSING_STATE_IDLE:
+        p_parse_packet->xel_cnt = 0;
+        if(p_parse_packet->header_cnt >= 3){
+          p_parse_packet->header_cnt = 0;
+        }
+        p_parse_packet->header[p_parse_packet->header_cnt++] = recv_data;
+        if(p_parse_packet->header_cnt == 3){
+          if(p_parse_packet->header[0] == 0xFF
+          && p_parse_packet->header[1] == 0xFF
+          && p_parse_packet->header[2] == 0xFD){
+            p_parse_packet->recv_param_len = 0;
+            p_parse_packet->calculated_crc = 0;
+            update_dxl_crc(&p_parse_packet->calculated_crc, 0xFF);
+            update_dxl_crc(&p_parse_packet->calculated_crc, 0xFF);
+            update_dxl_crc(&p_parse_packet->calculated_crc, 0xFD);          
+            p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_RESERVED;
+          }else{
+            p_parse_packet->header[0] = p_parse_packet->header[1];
+            p_parse_packet->header[1] = p_parse_packet->header[2];
+            p_parse_packet->header_cnt--;
+          }
+        }
+        break;
+
+      case DXL2_0_PACKET_PARSING_STATE_RESERVED:
+        if(recv_data != 0xFD){ // http://emanual.robotis.com/docs/en/dxl/protocol2/#reserved
+          p_parse_packet->reserved = recv_data;
+          update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ID;
         }else{
-          p_parse_packet->header[0] = p_parse_packet->header[1];
-          p_parse_packet->header[1] = p_parse_packet->header[2];
-          p_parse_packet->header_cnt--;
+          ret = DXL_LIB_ERROR_WRONG_PACKET;
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
         }
-      }
-      break;
+        break;
 
-    case DXL2_0_PACKET_PARSING_STATE_RESERVED:
-      if(recv_data != 0xFD){ // http://emanual.robotis.com/docs/en/dxl/protocol2/#reserved
-        p_parse_packet->reserved = recv_data;
-        update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
-        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ID;
-      }else{
-        ret = DXL_LIB_ERROR_WRONG_PACKET;
-        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
-      }
-      break;
+      case DXL2_0_PACKET_PARSING_STATE_ID:
+        if(recv_data < 0xFD || recv_data == DXL_BROADCAST_ID){ //http://emanual.robotis.com/docs/en/dxl/protocol2/#packet-id
+          p_parse_packet->id = recv_data;
+          update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_LENGTH_L;
+        }else{
+          ret = DXL_LIB_ERROR_INVAILD_ID;
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+        }
+        break;
 
-    case DXL2_0_PACKET_PARSING_STATE_ID:
-      if(recv_data < 0xFD || recv_data == DXL_BROADCAST_ID){ //http://emanual.robotis.com/docs/en/dxl/protocol2/#packet-id
-        p_parse_packet->id = recv_data;
+      case DXL2_0_PACKET_PARSING_STATE_LENGTH_L:
+        p_parse_packet->packet_len = recv_data;
         update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
-        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_LENGTH_L;
-      }else{
-        ret = DXL_LIB_ERROR_INVAILD_ID;
-        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
-      }
-      break;
-
-    case DXL2_0_PACKET_PARSING_STATE_LENGTH_L:
-      p_parse_packet->packet_len = recv_data;
-      update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
-      p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_LENGTH_H;
-      break;
-
-    case DXL2_0_PACKET_PARSING_STATE_LENGTH_H:
-      p_parse_packet->packet_len |= recv_data<<8;
-      update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
-      if(p_parse_packet->packet_len < 3){ // 3 = Instruction(1)+CRC(2)
-        ret = DXL_LIB_ERROR_LENGTH;
-        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
-      }else{
-        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_INST;
-      }
-      break;
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_LENGTH_H;
+        break;
 
-    case DXL2_0_PACKET_PARSING_STATE_INST:
-      p_parse_packet->inst_idx = recv_data;
-      update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
-      p_parse_packet->recv_param_len = 0;
-      p_parse_packet->err_idx = 0;
-      if(recv_data == DXL_INST_STATUS){
-        if(p_parse_packet->packet_len < 4){ // 4 = Instruction(1)+Error(1)+CRC(2)
+      case DXL2_0_PACKET_PARSING_STATE_LENGTH_H:
+        p_parse_packet->packet_len |= recv_data<<8;
+        update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+        if(p_parse_packet->packet_len < 3){ // 3 = Instruction(1)+CRC(2)
           ret = DXL_LIB_ERROR_LENGTH;
           p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
-        }else if(p_parse_packet->packet_len > p_parse_packet->param_buf_capacity+4){ // 4 = Instruction(1)+Error(1)+CRC(2)
-          ret = DXL_LIB_ERROR_BUFFER_OVERFLOW;
-          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
         }else{
-          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ERROR;
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_INST;
         }
-      }else{
-        if(p_parse_packet->packet_len > p_parse_packet->param_buf_capacity+3){ // 3 = Instruction(1)+CRC(2)
-          ret = DXL_LIB_ERROR_BUFFER_OVERFLOW;
-          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
-        }else if(p_parse_packet->packet_len == 3){ // 3 = Instruction(1)+CRC(2)
-          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
-        }else{
-          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_PARAM;
-        }
-      }
-      break;
-
-    case DXL2_0_PACKET_PARSING_STATE_ERROR:
-      p_parse_packet->err_idx = recv_data;
-      update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
-      if(p_parse_packet->packet_len == 4){ // 4 = Instruction(1)+Error(1)+CRC(2)
-        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
         break;
-      }
-      p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_PARAM;
-      break;
-
-    case DXL2_0_PACKET_PARSING_STATE_PARAM:
-      if(p_parse_packet->p_param_buf == NULL){
-        ret = DXL_LIB_ERROR_NULLPTR;
-        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
-      }
-
-      p_parse_packet->p_param_buf[p_parse_packet->recv_param_len++] = recv_data;
-      update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
 
-      //Remove byte stuffing (http://emanual.robotis.com/docs/en/dxl/protocol2/#processing-order-of-reception)
-      if(p_parse_packet->inst_idx == DXL_INST_STATUS){
-        if(p_parse_packet->recv_param_len >= 4){
-          if(p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-4] == 0xFF
-          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-3] == 0xFF
-          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-2] == 0xFD
-          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-1] == 0xFD){
-            p_parse_packet->recv_param_len--;
-            byte_stuffing_cnt++;
-          }
-        }else if(p_parse_packet->recv_param_len == 3){
-          if(p_parse_packet->err_idx == 0xFF
-          && p_parse_packet->p_param_buf[0] == 0xFF
-          && p_parse_packet->p_param_buf[1] == 0xFD
-          && p_parse_packet->p_param_buf[2] == 0xFD){
-            p_parse_packet->recv_param_len--;
-            byte_stuffing_cnt++;
+      case DXL2_0_PACKET_PARSING_STATE_INST:
+        p_parse_packet->inst_idx = recv_data;
+        update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+        p_parse_packet->recv_param_len = 0;
+        p_parse_packet->err_idx = 0;
+        if(recv_data == DXL_INST_STATUS){
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ERROR;
+          if(p_parse_packet->packet_len < 4){ // 4 = Instruction(1)+Error(1)+CRC(2)
+            ret = DXL_LIB_ERROR_LENGTH;
+            p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+          }else if(p_parse_packet->packet_len > ((p_parse_packet->param_buf_capacity+4) * p_parse_packet->xel_count) + 1 ){ // 4 = Instruction(1)+Error(1)+CRC(2)
+            ret = DXL_LIB_ERROR_BUFFER_OVERFLOW;
+            p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+          }else{
+            p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ERROR;
           }
-        }else if(p_parse_packet->recv_param_len == 2){
-          if(p_parse_packet->inst_idx == 0xFF
-          && p_parse_packet->err_idx == 0xFF
-          && p_parse_packet->p_param_buf[0] == 0xFD
-          && p_parse_packet->p_param_buf[1] == 0xFD){
-            p_parse_packet->recv_param_len--;
-            byte_stuffing_cnt++;
+        }else{
+          if(p_parse_packet->packet_len > p_parse_packet->param_buf_capacity+3){ // 3 = Instruction(1)+CRC(2)
+            ret = DXL_LIB_ERROR_BUFFER_OVERFLOW;
+            p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+          }else if(p_parse_packet->packet_len == 3){ // 3 = Instruction(1)+CRC(2)
+            p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
+          }else{
+            p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_PARAM;
           }
         }
-        if(p_parse_packet->recv_param_len+byte_stuffing_cnt+4 == p_parse_packet->packet_len){ // 4 = Instruction(1)+Error(1)+CRC(2)
+        break;
+
+      case DXL2_0_PACKET_PARSING_STATE_ERROR:
+        p_parse_packet->err_idx = recv_data;
+        update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+        if(p_parse_packet->packet_len == 4){ // 4 = Instruction(1)+Error(1)+CRC(2)
           p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
+          break;
         }
-      }else{
-        if(p_parse_packet->recv_param_len >= 4){
-          if(p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-4] == 0xFF
-          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-3] == 0xFF
-          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-2] == 0xFD
-          && p_parse_packet->p_param_buf[p_parse_packet->recv_param_len-1] == 0xFD){
-            p_parse_packet->recv_param_len--;
-            byte_stuffing_cnt++;
-          }
-        }else if(p_parse_packet->recv_param_len == 3){
-          if(p_parse_packet->inst_idx == 0xFF
-          && p_parse_packet->p_param_buf[0] == 0xFF
-          && p_parse_packet->p_param_buf[1] == 0xFD
-          && p_parse_packet->p_param_buf[2] == 0xFD){
-            p_parse_packet->recv_param_len--;
-            byte_stuffing_cnt++;
-          }
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_PARAM;
+        break;
+
+      case DXL2_0_PACKET_PARSING_STATE_PARAM:
+        if(p_parse_packet->p_param_buf == NULL){
+          ret = DXL_LIB_ERROR_NULLPTR;
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
         }
-        if(p_parse_packet->recv_param_len+byte_stuffing_cnt+3 == p_parse_packet->packet_len){ // 3 = Instruction(1)+CRC(2)
+        p_parse_packet->p_param_buf[(p_parse_packet->xel_cnt * 4) + p_parse_packet->recv_param_len++] = recv_data;
+        update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
+
+        if(p_parse_packet->recv_param_len == p_parse_packet->param_buf_capacity){ // 4 = Instruction(1)+Error(1)+CRC(2)
+          p_parse_packet->recv_param_len = 0;
           p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
-        }
-      }
-      break;
+        } 
+        break;
 
-    case DXL2_0_PACKET_PARSING_STATE_CRC_L:
-      p_parse_packet->recv_crc = recv_data;
-      p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_H;
-      break;
+      case DXL2_0_PACKET_PARSING_STATE_CRC_L:
+        p_parse_packet->recv_crc = recv_data;
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_H;
+        break;
 
-    case DXL2_0_PACKET_PARSING_STATE_CRC_H:
-      p_parse_packet->recv_crc |= recv_data<<8;
-      if (p_parse_packet->calculated_crc == p_parse_packet->recv_crc){
-        ret = DXL_LIB_OK;
-      }else{
-        ret = DXL_LIB_ERROR_CRC;
-      }
-      p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
-      break;
+      case DXL2_0_PACKET_PARSING_STATE_CRC_H:
+        p_parse_packet->xel_cnt += 1;
 
-    default:
-      p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
-      break;
-  }
+        if(p_parse_packet->xel_cnt < p_parse_packet->xel_count) {
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ERROR;
+          break;
+        } else if (p_parse_packet->xel_cnt == p_parse_packet->xel_count) {
+          p_parse_packet->recv_crc |= recv_data<<8;
+          ret = p_parse_packet->xel_cnt;
+          if (p_parse_packet->calculated_crc == p_parse_packet->recv_crc){
+            ret = DXL_LIB_OK;
+          }else{
+            // ret = DXL_LIB_ERROR_CRC;
+            ret = DXL_LIB_OK;
+          }
+          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+          break;
+        }
+
+      default:
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+        break;
+    }
 
   return ret;  
 }
diff --git a/src/dxl_c/protocol.h b/src/dxl_c/protocol.h
index 7d10336..840bfcf 100644
--- a/src/dxl_c/protocol.h
+++ b/src/dxl_c/protocol.h
@@ -135,6 +135,8 @@ typedef struct InfoToParseDXLPacket{
   uint8_t recv_check_sum;
   uint8_t reserved;
   uint8_t parse_state;
+  uint8_t xel_count;
+  uint8_t xel_cnt;
   bool is_init;
 }InfoToParseDXLPacket_t;
 
@@ -163,6 +165,8 @@ DXLLibErrorCode_t end_make_dxl_packet(InfoToMakeDXLPacket_t* p_make_packet);
 
 DXLLibErrorCode_t begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, 
   uint8_t protocol_ver, uint8_t* p_param_buf, uint16_t param_buf_cap);
+DXLLibErrorCode_t fast_begin_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, 
+  uint8_t protocol_ver, uint8_t* p_param_buf, uint16_t param_buf_cap, uint8_t xel_count);
 DXLLibErrorCode_t parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data);
 DXLLibErrorCode_t fast_parse_dxl_packet(InfoToParseDXLPacket_t* p_parse_packet, uint8_t recv_data);
 
diff --git a/src/utility/master.cpp b/src/utility/master.cpp
index aa07a1d..2d7069f 100644
--- a/src/utility/master.cpp
+++ b/src/utility/master.cpp
@@ -733,26 +733,17 @@ Master::fastSyncRead(InfoFastSyncReadInst_t* p_info, uint32_t timeout_ms)
 
   if(err == DXL_LIB_OK){
     p_port_->write(p_packet_buf, p_info->packet.gen_length);
+    p_xel = p_info->p_xels;
 
-    for(i=0; i<p_info->xel_count; i++)
-    {
-      p_xel = &p_info->p_xels[i];
-      if(fastRxStatusPacket(p_xel->p_recv_buf, p_info->addr_length, timeout_ms) != nullptr){
-        if(info_rx_packet_.id == p_xel->id){
-          p_xel->error = info_rx_packet_.err_idx;
-          recv_cnt++;
-        }else{
-          break;
-        }
-      }else{
-        break;
-      }
+    if(fastRxStatusPacket(p_info->p_xels, p_info->addr_length, p_info->xel_count, timeout_ms) != nullptr){
+        recv_cnt = p_info->xel_count;
+    }else{
+      err = DXL_LIB_ERROR_NULLPTR;
     }
   }else{
     p_info->packet.is_completed = false;
   }
   last_lib_err_ = err;
-
   return recv_cnt;
 }
 
@@ -1148,26 +1139,33 @@ Master::rxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_t ti
 
 //fastRxStatusPacket
 const InfoToParseDXLPacket_t* 
-Master::fastRxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_t timeout_ms)
+Master::fastRxStatusPacket(XELInfoFastSyncRead_t* p_xel_info, uint16_t param_buf_cap, uint8_t xel_count, uint32_t timeout_ms)
 {
   InfoToParseDXLPacket_t *p_ret = nullptr;
   DXLLibErrorCode_t err = DXL_LIB_OK;
   uint32_t pre_time_ms;
+  uint8_t* p_recv_buf_array[xel_count];
 
   // Parameter exception handling
-  if(p_port_ == nullptr
-  || (param_buf_cap > 0 && p_param_buf == nullptr)){
-    err = DXL_LIB_ERROR_NULLPTR;
-  }else if(p_port_->getOpenState() != true){
-    err = DXL_LIB_ERROR_PORT_NOT_OPEN;
+  for(uint8_t index=0; index<xel_count; index++){
+    if(p_port_ == nullptr || (param_buf_cap > 0 && p_xel_info[index].p_recv_buf == nullptr)){
+      err = DXL_LIB_ERROR_NULLPTR;
+    }else if(p_port_->getOpenState() != true){
+      err = DXL_LIB_ERROR_PORT_NOT_OPEN;
+    }
   }
   if(err != DXL_LIB_OK){
     last_lib_err_ = err;
     return nullptr;
   }
 
+  for(uint8_t index=0; index<xel_count; index++){
+    p_recv_buf_array[index] = p_xel_info[index].p_recv_buf;
+  }
+
   // Receive Status Packet
-  err = begin_parse_dxl_packet(&info_rx_packet_, protocol_ver_idx_, p_param_buf, param_buf_cap);
+  err = fast_begin_parse_dxl_packet(&info_rx_packet_, protocol_ver_idx_, *p_recv_buf_array, param_buf_cap, xel_count);
+
   if(err == DXL_LIB_OK){
     pre_time_ms = millis();
     while(1) 
@@ -1184,7 +1182,6 @@ Master::fastRxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_
           break;
         }
       }
-
       if (millis()-pre_time_ms >= timeout_ms) {
         err = DXL_LIB_ERROR_TIMEOUT;
         break;
diff --git a/src/utility/master.h b/src/utility/master.h
index 8624bbf..ce218eb 100644
--- a/src/utility/master.h
+++ b/src/utility/master.h
@@ -252,7 +252,7 @@ class Master
     // raw APIs
     bool txInstPacket(uint8_t id, uint8_t inst_idx, uint8_t *p_param, uint16_t param_len);
     const InfoToParseDXLPacket_t* rxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_t timeout_ms = 10);
-    const InfoToParseDXLPacket_t* fastRxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_t timeout_ms = 10);
+    const InfoToParseDXLPacket_t* fastRxStatusPacket(XELInfoFastSyncRead_t* p_xel_info, uint16_t param_buf_cap, uint8_t xel_count, uint32_t timeout_ms = 10);
 
     // >> Legacy (Deprecated since v0.4.0)
     bool syncRead(const ParamForSyncReadInst_t &param_info, RecvInfoFromStatusInst_t &recv_info, uint32_t timeout_ms = 100);

From 37dcbec0697aa400ffb40363d11ad0fb9f59eebe Mon Sep 17 00:00:00 2001
From: ashekim <ashekim@robotis.com>
Date: Thu, 23 Dec 2021 17:33:25 +0900
Subject: [PATCH 04/24] fast sync update

---
 src/dxl_c/protocol.c   | 51 +++++++++++++++++++++++-------------------
 src/dxl_c/protocol.h   |  2 +-
 src/utility/master.cpp |  4 ----
 3 files changed, 29 insertions(+), 28 deletions(-)

diff --git a/src/dxl_c/protocol.c b/src/dxl_c/protocol.c
index b087fc4..aa1744b 100644
--- a/src/dxl_c/protocol.c
+++ b/src/dxl_c/protocol.c
@@ -700,11 +700,12 @@ static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_pars
 {
   DXLLibErrorCode_t ret = DXL_LIB_PROCEEDING;
   uint16_t byte_stuffing_cnt = 0;
+  uint8_t size = ((p_parse_packet->param_buf_capacity+4) * p_parse_packet->xel_count) - 3;
+  uint8_t* param_array = (uint8_t *)malloc(sizeof(uint8_t) * size); // 4 = Instruction(1)+Error(1)+CRC(2)
 
   switch(p_parse_packet->parse_state)
     {
       case DXL2_0_PACKET_PARSING_STATE_IDLE:
-        p_parse_packet->xel_cnt = 0;
         if(p_parse_packet->header_cnt >= 3){
           p_parse_packet->header_cnt = 0;
         }
@@ -769,8 +770,10 @@ static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_pars
       case DXL2_0_PACKET_PARSING_STATE_INST:
         p_parse_packet->inst_idx = recv_data;
         update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
-        p_parse_packet->recv_param_len = 0;
         p_parse_packet->err_idx = 0;
+        p_parse_packet->recv_param_len = 0;
+        p_parse_packet->param_count = 0;
+
         if(recv_data == DXL_INST_STATUS){
           p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ERROR;
           if(p_parse_packet->packet_len < 4){ // 4 = Instruction(1)+Error(1)+CRC(2)
@@ -809,13 +812,25 @@ static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_pars
           ret = DXL_LIB_ERROR_NULLPTR;
           p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
         }
-        p_parse_packet->p_param_buf[(p_parse_packet->xel_cnt * 4) + p_parse_packet->recv_param_len++] = recv_data;
+
+        param_array[p_parse_packet->recv_param_len] = recv_data;
         update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
 
-        if(p_parse_packet->recv_param_len == p_parse_packet->param_buf_capacity){ // 4 = Instruction(1)+Error(1)+CRC(2)
-          p_parse_packet->recv_param_len = 0;
+
+        if(0 < p_parse_packet->recv_param_len && p_parse_packet->recv_param_len < 1 + p_parse_packet->param_buf_capacity) {
+          p_parse_packet->p_param_buf[p_parse_packet->param_count] = recv_data;
+          p_parse_packet->param_count += 1;
+        } else if(8 < p_parse_packet->recv_param_len && p_parse_packet->recv_param_len < 9 + p_parse_packet->param_buf_capacity) {
+          p_parse_packet->p_param_buf[p_parse_packet->param_count] = recv_data;
+          p_parse_packet->param_count += 1;
+        }
+
+        p_parse_packet->recv_param_len += 1;
+
+        if(p_parse_packet->recv_param_len == size) {
           p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_CRC_L;
-        } 
+        }
+
         break;
 
       case DXL2_0_PACKET_PARSING_STATE_CRC_L:
@@ -824,29 +839,19 @@ static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_pars
         break;
 
       case DXL2_0_PACKET_PARSING_STATE_CRC_H:
-        p_parse_packet->xel_cnt += 1;
-
-        if(p_parse_packet->xel_cnt < p_parse_packet->xel_count) {
-          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ERROR;
-          break;
-        } else if (p_parse_packet->xel_cnt == p_parse_packet->xel_count) {
-          p_parse_packet->recv_crc |= recv_data<<8;
-          ret = p_parse_packet->xel_cnt;
-          if (p_parse_packet->calculated_crc == p_parse_packet->recv_crc){
-            ret = DXL_LIB_OK;
-          }else{
-            // ret = DXL_LIB_ERROR_CRC;
-            ret = DXL_LIB_OK;
-          }
-          p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
-          break;
+        p_parse_packet->recv_crc |= recv_data<<8;
+        if (p_parse_packet->calculated_crc == p_parse_packet->recv_crc){
+          ret = DXL_LIB_OK;
+        }else{
+          ret = DXL_LIB_ERROR_CRC;
         }
+        p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
+        break;
 
       default:
         p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_IDLE;
         break;
     }
-
   return ret;  
 }
 
diff --git a/src/dxl_c/protocol.h b/src/dxl_c/protocol.h
index 840bfcf..de97d4d 100644
--- a/src/dxl_c/protocol.h
+++ b/src/dxl_c/protocol.h
@@ -136,7 +136,7 @@ typedef struct InfoToParseDXLPacket{
   uint8_t reserved;
   uint8_t parse_state;
   uint8_t xel_count;
-  uint8_t xel_cnt;
+  uint8_t param_count;
   bool is_init;
 }InfoToParseDXLPacket_t;
 
diff --git a/src/utility/master.cpp b/src/utility/master.cpp
index 2d7069f..a5950af 100644
--- a/src/utility/master.cpp
+++ b/src/utility/master.cpp
@@ -733,8 +733,6 @@ Master::fastSyncRead(InfoFastSyncReadInst_t* p_info, uint32_t timeout_ms)
 
   if(err == DXL_LIB_OK){
     p_port_->write(p_packet_buf, p_info->packet.gen_length);
-    p_xel = p_info->p_xels;
-
     if(fastRxStatusPacket(p_info->p_xels, p_info->addr_length, p_info->xel_count, timeout_ms) != nullptr){
         recv_cnt = p_info->xel_count;
     }else{
@@ -747,8 +745,6 @@ Master::fastSyncRead(InfoFastSyncReadInst_t* p_info, uint32_t timeout_ms)
   return recv_cnt;
 }
 
-
-
 // (Protocol 1.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol1/#sync-write
 // (Protocol 2.0) Refer to http://emanual.robotis.com/docs/en/dxl/protocol2/#sync-write
 bool

From a65480bbfa748abded9c54111d28a44bea5cdeb5 Mon Sep 17 00:00:00 2001
From: ashekim <ashekim@robotis.com>
Date: Fri, 24 Dec 2021 14:15:34 +0900
Subject: [PATCH 05/24] fast sync update

---
 src/dxl_c/protocol.c | 26 ++++++++++++++++++--------
 src/dxl_c/protocol.h |  3 ++-
 2 files changed, 20 insertions(+), 9 deletions(-)

diff --git a/src/dxl_c/protocol.c b/src/dxl_c/protocol.c
index aa1744b..1bc939d 100644
--- a/src/dxl_c/protocol.c
+++ b/src/dxl_c/protocol.c
@@ -700,8 +700,8 @@ static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_pars
 {
   DXLLibErrorCode_t ret = DXL_LIB_PROCEEDING;
   uint16_t byte_stuffing_cnt = 0;
-  uint8_t size = ((p_parse_packet->param_buf_capacity+4) * p_parse_packet->xel_count) - 3;
-  uint8_t* param_array = (uint8_t *)malloc(sizeof(uint8_t) * size); // 4 = Instruction(1)+Error(1)+CRC(2)
+  uint8_t size = ((p_parse_packet->param_buf_capacity+4) * p_parse_packet->xel_count) - 3; // 4 = Instruction(1)+Error(1)+CRC(2)
+  uint8_t* param_array = (uint8_t *)malloc(sizeof(uint8_t) * size); 
 
   switch(p_parse_packet->parse_state)
     {
@@ -773,6 +773,7 @@ static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_pars
         p_parse_packet->err_idx = 0;
         p_parse_packet->recv_param_len = 0;
         p_parse_packet->param_count = 0;
+        p_parse_packet->check_xel_count = 0;
 
         if(recv_data == DXL_INST_STATUS){
           p_parse_packet->parse_state = DXL2_0_PACKET_PARSING_STATE_ERROR;
@@ -817,12 +818,21 @@ static DXLLibErrorCode_t fast_parse_dxl2_0_packet(InfoToParseDXLPacket_t* p_pars
         update_dxl_crc(&p_parse_packet->calculated_crc, recv_data);
 
 
-        if(0 < p_parse_packet->recv_param_len && p_parse_packet->recv_param_len < 1 + p_parse_packet->param_buf_capacity) {
-          p_parse_packet->p_param_buf[p_parse_packet->param_count] = recv_data;
-          p_parse_packet->param_count += 1;
-        } else if(8 < p_parse_packet->recv_param_len && p_parse_packet->recv_param_len < 9 + p_parse_packet->param_buf_capacity) {
-          p_parse_packet->p_param_buf[p_parse_packet->param_count] = recv_data;
-          p_parse_packet->param_count += 1;
+        /////TODO/////
+        // https://emanual.robotis.com/docs/en/dxl/protocol2/#parameter
+        for(p_parse_packet->check_xel_count=0; p_parse_packet->check_xel_count < p_parse_packet->xel_count; p_parse_packet->check_xel_count++){
+          if(p_parse_packet->check_xel_count == 0) {
+            if(0 < p_parse_packet->recv_param_len && p_parse_packet->recv_param_len <= p_parse_packet->param_buf_capacity) {
+              p_parse_packet->p_param_buf[p_parse_packet->param_count] = recv_data;
+              p_parse_packet->param_count += 1;
+            }
+          } else {
+            if((p_parse_packet->check_xel_count * (p_parse_packet->param_buf_capacity + 4)) < p_parse_packet->recv_param_len 
+                && p_parse_packet->recv_param_len <= ((p_parse_packet->check_xel_count + 1) * p_parse_packet->param_buf_capacity) + 4) {
+              p_parse_packet->p_param_buf[p_parse_packet->param_count] = recv_data;
+              p_parse_packet->param_count += 1;
+            }
+          }
         }
 
         p_parse_packet->recv_param_len += 1;
diff --git a/src/dxl_c/protocol.h b/src/dxl_c/protocol.h
index de97d4d..03882ad 100644
--- a/src/dxl_c/protocol.h
+++ b/src/dxl_c/protocol.h
@@ -135,8 +135,9 @@ typedef struct InfoToParseDXLPacket{
   uint8_t recv_check_sum;
   uint8_t reserved;
   uint8_t parse_state;
-  uint8_t xel_count;
   uint8_t param_count;
+  uint8_t xel_count;
+  uint8_t check_xel_count;
   bool is_init;
 }InfoToParseDXLPacket_t;
 

From 0867fd1fad06708c2a917083ab7bd932d919d105 Mon Sep 17 00:00:00 2001
From: ashekim <ashekim@robotis.com>
Date: Mon, 10 Jan 2022 15:52:40 +0900
Subject: [PATCH 06/24] modified fast sync example

---
 .../fast_sync_read/fast_sync_read.ino         | 51 ++++++++++++-------
 1 file changed, 34 insertions(+), 17 deletions(-)

diff --git a/examples/advanced/fast_sync_read/fast_sync_read.ino b/examples/advanced/fast_sync_read/fast_sync_read.ino
index 2d95c0b..32b93ed 100644
--- a/examples/advanced/fast_sync_read/fast_sync_read.ino
+++ b/examples/advanced/fast_sync_read/fast_sync_read.ino
@@ -18,7 +18,6 @@
 
 #include <Dynamixel2Arduino.h>
 
-
 // Please modify it to suit your hardware.
 #if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
   #include <SoftwareSerial.h>
@@ -49,7 +48,7 @@
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
-
+#define DXL_MOVING_STATUS_THRESHOLD  10
 
 /* FastsyncRead
   DYNAMIXEL PROTOCOL 1.0 does NOT support Sync Read feature.
@@ -123,8 +122,8 @@ Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
 //This namespace is required to use Control table item names
 using namespace ControlTableItem;
 
-int32_t goal_position[2] = {1024, 2048};
-uint8_t goal_position_index = 0;
+int32_t dxl_goal_position = 1024;
+char keyboard;
 
 void setup() {
   uint8_t i;
@@ -164,9 +163,11 @@ void setup() {
   sw_infos.p_xels = info_xels_sw;
   sw_infos.xel_count = 0;
 
-  sw_data[0].goal_position = 0; 
-  sw_data[1].goal_position = 0; 
-
+  // Insert a initial Position to the syncWrite Packet
+  for(i = 0; i < DXL_ID_CNT; i++){
+    sw_data[i].goal_position = dxl_goal_position;
+  }
+  
   for(i=0; i<DXL_ID_CNT; i++){
     info_xels_sw[i].id = DXL_ID_LIST[i];
     info_xels_sw[i].p_data = (uint8_t*)&sw_data[i].goal_position;
@@ -179,47 +180,63 @@ void loop() {
   static uint32_t try_count = 0;
   uint8_t i, recv_cnt;
 
+  if (Serial.available()) {
+    keyboard = Serial.read();
+    if (keyboard == 'u') { // position increase
+      dxl_goal_position = dxl_goal_position + 256;
+    }
+    else if (keyboard == 'd') { // position decrease
+      dxl_goal_position = dxl_goal_position - 256;
+    }
+    else if (keyboard == 'r') { // position reset
+      dxl_goal_position = 1024;
+    }
+  }
+
+  // Insert a new Goal Position to the syncWrite Packet
   for(i = 0; i < DXL_ID_CNT; i++){
-    sw_data[i].goal_position = goal_position[goal_position_index];
+    sw_data[i].goal_position = dxl_goal_position;
   }
 
+  // Update the SyncWrite packet status
   sw_infos.is_info_changed = true;
 
   DEBUG_SERIAL.print("\n>>>>>> Sync Instruction Test : ");
   DEBUG_SERIAL.println(try_count++);
+
+  // Build a syncWrite Packet and transmit to DYNAMIXEL
   if(dxl.syncWrite(&sw_infos) == true){
     DEBUG_SERIAL.println("[SyncWrite] Success");
     for(i=0; i<sw_infos.xel_count; i++){
       DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sw_infos.p_xels[i].id);
       DEBUG_SERIAL.print("\t Goal Position: ");DEBUG_SERIAL.println(sw_data[i].goal_position);
-    }
-    if(goal_position_index == 0)
-      goal_position_index = 1;
-    else
-      goal_position_index = 0;    
+    }   
   }else{
     DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
     DEBUG_SERIAL.print(dxl.getLastLibErrCode());
   }
   DEBUG_SERIAL.println();
 
-  delay(250);
+  delay(300);
 
+  // Transmit predefined fastSyncRead instruction packet
+  // and receive a status packet from each DYNAMIXEL
   recv_cnt = dxl.fastSyncRead(&sr_infos);
   if(recv_cnt > 0){
     DEBUG_SERIAL.print("[fastSyncRead] Success, Received ID Count: ");
     DEBUG_SERIAL.println(recv_cnt);
-    for(i=0; i<recv_cnt; i++){
+    for(i=0; i<recv_cnt; i++) {
       DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sr_infos.p_xels[i].id);
       DEBUG_SERIAL.print("\t Present Position: ");DEBUG_SERIAL.println(sr_data[i].present_position);
     }
-  } else{
+  } else {
     DEBUG_SERIAL.print("[fastSyncRead] Fail, Lib error code: ");
     DEBUG_SERIAL.println(dxl.getLastLibErrCode());
   }
 
+  DEBUG_SERIAL.println();
   DEBUG_SERIAL.println("=======================================================");
 
   digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
-  delay(750);
+  delay(1000);
 }

From 42ea803c0e01b66e7c1e27a358091fa389ce0f49 Mon Sep 17 00:00:00 2001
From: ROBOTIS-Will <willson@robotis.com>
Date: Thu, 27 Jan 2022 17:36:42 +0900
Subject: [PATCH 07/24] opencm-x wip

Signed-off-by: ROBOTIS-Will <willson@robotis.com>
---
 examples/basic/baudrate/baudrate.ino                        | 4 ++++
 examples/basic/copy_eeprom_x/copy_eeprom_x.ino              | 6 +++++-
 examples/basic/current_mode/current_mode.ino                | 6 +++++-
 .../basic/current_position_mode/current_position_mode.ino   | 6 +++++-
 examples/basic/id/id.ino                                    | 6 +++++-
 examples/basic/led/led.ino                                  | 6 +++++-
 examples/basic/operation_mode/operation_mode.ino            | 6 +++++-
 examples/basic/ping/ping.ino                                | 6 +++++-
 examples/basic/position_mode/position_mode.ino              | 6 +++++-
 .../profile_velocity_acceleration.ino                       | 6 +++++-
 examples/basic/pwm_mode/pwm_mode.ino                        | 6 +++++-
 examples/basic/scan_dynamixel/scan_dynamixel.ino            | 6 +++++-
 examples/basic/torque/torque.ino                            | 6 +++++-
 examples/basic/velocity_mode/velocity_mode.ino              | 6 +++++-
 examples/blender/openmanipulator_x/openmanipulator_x.ino    | 6 +++++-
 examples/dynamixel_protocol/factory_reset/factory_reset.ino | 6 +++++-
 examples/dynamixel_protocol/ping/ping.ino                   | 6 +++++-
 examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino       | 6 +++++-
 examples/dynamixel_protocol/read_x/read_x.ino               | 6 +++++-
 examples/dynamixel_protocol/reboot/reboot.ino               | 6 +++++-
 examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino     | 6 +++++-
 examples/dynamixel_protocol/write_x/write_x.ino             | 6 +++++-
 src/utility/port_handler.cpp                                | 2 +-
 23 files changed, 110 insertions(+), 22 deletions(-)

diff --git a/examples/basic/baudrate/baudrate.ino b/examples/basic/baudrate/baudrate.ino
index e26069c..7217279 100644
--- a/examples/basic/baudrate/baudrate.ino
+++ b/examples/basic/baudrate/baudrate.ino
@@ -41,6 +41,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/copy_eeprom_x/copy_eeprom_x.ino b/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
index 05f5fb4..da7f3b7 100644
--- a/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
+++ b/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/current_mode/current_mode.ino b/examples/basic/current_mode/current_mode.ino
index 7aac140..ed75d8c 100644
--- a/examples/basic/current_mode/current_mode.ino
+++ b/examples/basic/current_mode/current_mode.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/current_position_mode/current_position_mode.ino b/examples/basic/current_position_mode/current_position_mode.ino
index afc4b7c..d883e50 100644
--- a/examples/basic/current_position_mode/current_position_mode.ino
+++ b/examples/basic/current_position_mode/current_position_mode.ino
@@ -44,7 +44,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/id/id.ino b/examples/basic/id/id.ino
index 824b4d3..5826dfb 100644
--- a/examples/basic/id/id.ino
+++ b/examples/basic/id/id.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/led/led.ino b/examples/basic/led/led.ino
index 9680be2..c84dfaf 100644
--- a/examples/basic/led/led.ino
+++ b/examples/basic/led/led.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/operation_mode/operation_mode.ino b/examples/basic/operation_mode/operation_mode.ino
index f2e428f..6cac338 100644
--- a/examples/basic/operation_mode/operation_mode.ino
+++ b/examples/basic/operation_mode/operation_mode.ino
@@ -50,7 +50,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/ping/ping.ino b/examples/basic/ping/ping.ino
index b481fc6..f5514b1 100644
--- a/examples/basic/ping/ping.ino
+++ b/examples/basic/ping/ping.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/position_mode/position_mode.ino b/examples/basic/position_mode/position_mode.ino
index c274831..ad06d8c 100644
--- a/examples/basic/position_mode/position_mode.ino
+++ b/examples/basic/position_mode/position_mode.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
index 968e3f9..9df9f11 100644
--- a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
+++ b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
@@ -45,7 +45,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/pwm_mode/pwm_mode.ino b/examples/basic/pwm_mode/pwm_mode.ino
index a5e3a59..2cc3625 100644
--- a/examples/basic/pwm_mode/pwm_mode.ino
+++ b/examples/basic/pwm_mode/pwm_mode.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/scan_dynamixel/scan_dynamixel.ino b/examples/basic/scan_dynamixel/scan_dynamixel.ino
index 01dfaf4..6755d34 100644
--- a/examples/basic/scan_dynamixel/scan_dynamixel.ino
+++ b/examples/basic/scan_dynamixel/scan_dynamixel.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/torque/torque.ino b/examples/basic/torque/torque.ino
index b3d842f..3511c1f 100644
--- a/examples/basic/torque/torque.ino
+++ b/examples/basic/torque/torque.ino
@@ -44,7 +44,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/velocity_mode/velocity_mode.ino b/examples/basic/velocity_mode/velocity_mode.ino
index e6b1fe4..e189812 100644
--- a/examples/basic/velocity_mode/velocity_mode.ino
+++ b/examples/basic/velocity_mode/velocity_mode.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/blender/openmanipulator_x/openmanipulator_x.ino b/examples/blender/openmanipulator_x/openmanipulator_x.ino
index cd009c6..d4c21ff 100644
--- a/examples/blender/openmanipulator_x/openmanipulator_x.ino
+++ b/examples/blender/openmanipulator_x/openmanipulator_x.ino
@@ -49,7 +49,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/factory_reset/factory_reset.ino b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
index df1c2cd..01a0dd0 100644
--- a/examples/dynamixel_protocol/factory_reset/factory_reset.ino
+++ b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/ping/ping.ino b/examples/dynamixel_protocol/ping/ping.ino
index 281c73d..cac2841 100644
--- a/examples/dynamixel_protocol/ping/ping.ino
+++ b/examples/dynamixel_protocol/ping/ping.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino b/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
index fe6ddea..314e8a5 100644
--- a/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
+++ b/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/read_x/read_x.ino b/examples/dynamixel_protocol/read_x/read_x.ino
index d4ddae9..af54ab3 100644
--- a/examples/dynamixel_protocol/read_x/read_x.ino
+++ b/examples/dynamixel_protocol/read_x/read_x.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/reboot/reboot.ino b/examples/dynamixel_protocol/reboot/reboot.ino
index 8af4e5a..e0e7b11 100644
--- a/examples/dynamixel_protocol/reboot/reboot.ino
+++ b/examples/dynamixel_protocol/reboot/reboot.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino b/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
index 15f6b54..3aba2c6 100644
--- a/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
+++ b/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/write_x/write_x.ino b/examples/dynamixel_protocol/write_x/write_x.ino
index 360261e..a6f0b3a 100644
--- a/examples/dynamixel_protocol/write_x/write_x.ino
+++ b/examples/dynamixel_protocol/write_x/write_x.ino
@@ -40,7 +40,11 @@
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenCM-X MKR does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/src/utility/port_handler.cpp b/src/utility/port_handler.cpp
index 16016ab..46c5146 100644
--- a/src/utility/port_handler.cpp
+++ b/src/utility/port_handler.cpp
@@ -31,7 +31,7 @@ void SerialPortHandler::begin()
 
 void SerialPortHandler::begin(unsigned long baud)
 {
-#if defined(ARDUINO_OpenCM904)
+#if defined(ARDUINO_OpenCM904) || defined(ARDUINO_OpenCM_X_MKR)
   if(port_ == Serial1 && getOpenState() == false){
     Serial1.setDxlMode(true);
   }

From 7618a056617fec5ff537838c257af782a87f7225 Mon Sep 17 00:00:00 2001
From: Will Son <willson@robotis.com>
Date: Mon, 14 Mar 2022 18:39:13 +0900
Subject: [PATCH 08/24] append OpenRB option

Signed-off-by: Will Son <willson@robotis.com>
---
 .../DEPRECATED_bulk_read_write_raw.ino        |    4 +
 .../DEPRECATED_sync_bulk_raw.ino              |    4 +
 .../DEPRECATED_sync_read_write_raw.ino        |    4 +
 .../add_custom_SerialPortHandler.ino          |    4 +
 .../bulk_read_write_raw.ino                   |    4 +
 .../fast_sync_read/fast_sync_read.ino         |  488 ++---
 .../operating_mode_advanced.ino               |    4 +
 .../read_write_ControlTableItem.ino           |    4 +
 examples/advanced/slave/slave.ino             |    4 +
 .../slave_callback/slave_callback.ino         |    4 +
 .../sync_read_write_position.ino              |    4 +
 .../sync_read_write_velocity.ino              |    4 +
 examples/basic/baudrate/baudrate.ino          |  210 +-
 .../basic/copy_eeprom_x/copy_eeprom_x.ino     |    4 +-
 examples/basic/current_mode/current_mode.ino  |  214 +-
 .../current_position_mode.ino                 |  220 +-
 examples/basic/id/id.ino                      |  234 +--
 examples/basic/led/led.ino                    |  166 +-
 .../basic/operation_mode/operation_mode.ino   |  300 +--
 examples/basic/ping/ping.ino                  |  236 +--
 .../basic/position_mode/position_mode.ino     |  232 +--
 .../profile_velocity_acceleration.ino         |  278 +--
 examples/basic/pwm_mode/pwm_mode.ino          |  200 +-
 .../basic/scan_dynamixel/scan_dynamixel.ino   |  204 +-
 examples/basic/torque/torque.ino              |  176 +-
 .../basic/velocity_mode/velocity_mode.ino     |  214 +-
 .../openmanipulator_x/openmanipulator_x.ino   | 1790 ++++++++---------
 .../factory_reset/factory_reset.ino           |  264 +--
 examples/dynamixel_protocol/ping/ping.ino     |  210 +-
 .../read_ax_mx/read_ax_mx.ino                 |  222 +-
 examples/dynamixel_protocol/read_x/read_x.ino |  220 +-
 examples/dynamixel_protocol/reboot/reboot.ino |  198 +-
 .../write_ax_mx/write_ax_mx.ino               |  278 +--
 .../dynamixel_protocol/write_x/write_x.ino    |  274 +--
 src/utility/port_handler.cpp                  |    2 +-
 35 files changed, 3463 insertions(+), 3415 deletions(-)

diff --git a/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino b/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino
index 59a0e23..5ac0eb3 100644
--- a/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino
+++ b/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino
@@ -45,6 +45,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino b/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino
index eb8b765..2df4edf 100644
--- a/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino
+++ b/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino
@@ -45,6 +45,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino b/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino
index 2d2b5a7..9c34a74 100644
--- a/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino
+++ b/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino
@@ -45,6 +45,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino b/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
index 2e10d4b..6b05d25 100644
--- a/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
+++ b/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
@@ -41,6 +41,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino b/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino
index 5309e20..dcf44d0 100644
--- a/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino
+++ b/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino
@@ -41,6 +41,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/fast_sync_read/fast_sync_read.ino b/examples/advanced/fast_sync_read/fast_sync_read.ino
index 32b93ed..4a13fe6 100644
--- a/examples/advanced/fast_sync_read/fast_sync_read.ino
+++ b/examples/advanced/fast_sync_read/fast_sync_read.ino
@@ -1,242 +1,246 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-// Author: Ashe Kim
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
-#define DXL_MOVING_STATUS_THRESHOLD  10
-
-/* FastsyncRead
-  DYNAMIXEL PROTOCOL 1.0 does NOT support Sync Read feature.
-  Structures containing the necessary information to process the 'fastSyncRead' packet.
-
-  typedef struct XELInfoFastSyncRead{
-  uint8_t *p_recv_buf;
-  uint8_t id;
-  uint8_t error;
-} __attribute__((packed)) XELInfoFastSyncRead_t;
-
-typedef struct InfoFastSyncReadInst{
-  uint16_t addr;
-  uint16_t addr_length;
-  XELInfoFastSyncRead_t* p_xels;
-  uint8_t xel_count;
-  bool is_info_changed;
-  InfoSyncBulkBuffer_t packet;
-} __attribute__((packed)) InfoFastSyncReadInst_t;
-*/
-
-/* syncWrite
-  DYNAMIXEL PROTOCOL 1.0 supports Control Table address up to 255.
-  Structures containing the necessary information to process the 'syncWrite' packet.
-
-  typedef struct XELInfoSyncWrite{
-    uint8_t* p_data;
-    uint8_t id;
-} __attribute__((packed)) XELInfoSyncWrite_t;
-
-  typedef struct InfoSyncWriteInst{
-    uint16_t addr;
-    uint16_t addr_length;
-    XELInfoSyncWrite_t* p_xels;
-    uint8_t xel_count;
-    bool is_info_changed;
-    InfoSyncBulkBuffer_t packet;
-} __attribute__((packed)) InfoSyncWriteInst_t;
-*/
-
-const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
-const uint8_t BROADCAST_ID = 254;
-const uint8_t DXL_ID_CNT = 2;
-const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {1, 2};
-const uint16_t user_pkt_buf_cap = 128;
-uint8_t user_pkt_buf[user_pkt_buf_cap];
-
-const uint16_t SR_START_ADDR = 132; //Present position
-const uint16_t SR_ADDR_LEN = 4;
-const uint16_t SW_START_ADDR = 116; //Goal position
-const uint16_t SW_ADDR_LEN = 4;
-
-typedef struct sr_data{
-  int32_t present_position;
-} __attribute__((packed)) sr_data_t;
-typedef struct sw_data{
-  int32_t goal_position;
-} __attribute__((packed)) sw_data_t;
-
-
-sr_data_t sr_data[DXL_ID_CNT];
-DYNAMIXEL::InfoFastSyncReadInst_t sr_infos;
-DYNAMIXEL::XELInfoFastSyncRead_t info_xels_sr[DXL_ID_CNT];
-
-sw_data_t sw_data[DXL_ID_CNT];
-DYNAMIXEL::InfoSyncWriteInst_t sw_infos;
-DYNAMIXEL::XELInfoSyncWrite_t info_xels_sw[DXL_ID_CNT];
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-int32_t dxl_goal_position = 1024;
-char keyboard;
-
-void setup() {
-  uint8_t i;
-  pinMode(LED_BUILTIN, OUTPUT);
-  DEBUG_SERIAL.begin(115200);
-  dxl.begin(57600);
-  dxl.setPortProtocolVersion(DYNAMIXEL_PROTOCOL_VERSION);
-  
-  for(i=0; i<DXL_ID_CNT; i++){
-    dxl.torqueOff(DXL_ID_LIST[i]);
-    dxl.setOperatingMode(DXL_ID_LIST[i], OP_POSITION);
-  }
-  dxl.torqueOn(BROADCAST_ID);
-
-  // Fill the members of structure to fastSyncRead using external user packet buffer
-  sr_infos.packet.buf_capacity = user_pkt_buf_cap;
-  sr_infos.packet.p_buf = user_pkt_buf;
-  sr_infos.packet.is_completed = false;
-  sr_infos.addr = SR_START_ADDR;
-  sr_infos.addr_length = SR_ADDR_LEN;
-  sr_infos.p_xels = info_xels_sr;
-  sr_infos.xel_count = 0;  
-
-  for(i=0; i<DXL_ID_CNT; i++){
-    info_xels_sr[i].id = DXL_ID_LIST[i];
-    info_xels_sr[i].p_recv_buf = (uint8_t*)&sr_data[i];
-    sr_infos.xel_count++;
-  }
-  sr_infos.is_info_changed = true;
-
-
-  // Fill the members of structure to syncWrite using internal packet buffer
-  sw_infos.packet.p_buf = nullptr;
-  sw_infos.packet.is_completed = false;
-  sw_infos.addr = SW_START_ADDR;
-  sw_infos.addr_length = SW_ADDR_LEN;
-  sw_infos.p_xels = info_xels_sw;
-  sw_infos.xel_count = 0;
-
-  // Insert a initial Position to the syncWrite Packet
-  for(i = 0; i < DXL_ID_CNT; i++){
-    sw_data[i].goal_position = dxl_goal_position;
-  }
-  
-  for(i=0; i<DXL_ID_CNT; i++){
-    info_xels_sw[i].id = DXL_ID_LIST[i];
-    info_xels_sw[i].p_data = (uint8_t*)&sw_data[i].goal_position;
-    sw_infos.xel_count++;
-  }
-  sw_infos.is_info_changed = true;
-}
-
-void loop() {
-  static uint32_t try_count = 0;
-  uint8_t i, recv_cnt;
-
-  if (Serial.available()) {
-    keyboard = Serial.read();
-    if (keyboard == 'u') { // position increase
-      dxl_goal_position = dxl_goal_position + 256;
-    }
-    else if (keyboard == 'd') { // position decrease
-      dxl_goal_position = dxl_goal_position - 256;
-    }
-    else if (keyboard == 'r') { // position reset
-      dxl_goal_position = 1024;
-    }
-  }
-
-  // Insert a new Goal Position to the syncWrite Packet
-  for(i = 0; i < DXL_ID_CNT; i++){
-    sw_data[i].goal_position = dxl_goal_position;
-  }
-
-  // Update the SyncWrite packet status
-  sw_infos.is_info_changed = true;
-
-  DEBUG_SERIAL.print("\n>>>>>> Sync Instruction Test : ");
-  DEBUG_SERIAL.println(try_count++);
-
-  // Build a syncWrite Packet and transmit to DYNAMIXEL
-  if(dxl.syncWrite(&sw_infos) == true){
-    DEBUG_SERIAL.println("[SyncWrite] Success");
-    for(i=0; i<sw_infos.xel_count; i++){
-      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sw_infos.p_xels[i].id);
-      DEBUG_SERIAL.print("\t Goal Position: ");DEBUG_SERIAL.println(sw_data[i].goal_position);
-    }   
-  }else{
-    DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
-    DEBUG_SERIAL.print(dxl.getLastLibErrCode());
-  }
-  DEBUG_SERIAL.println();
-
-  delay(300);
-
-  // Transmit predefined fastSyncRead instruction packet
-  // and receive a status packet from each DYNAMIXEL
-  recv_cnt = dxl.fastSyncRead(&sr_infos);
-  if(recv_cnt > 0){
-    DEBUG_SERIAL.print("[fastSyncRead] Success, Received ID Count: ");
-    DEBUG_SERIAL.println(recv_cnt);
-    for(i=0; i<recv_cnt; i++) {
-      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sr_infos.p_xels[i].id);
-      DEBUG_SERIAL.print("\t Present Position: ");DEBUG_SERIAL.println(sr_data[i].present_position);
-    }
-  } else {
-    DEBUG_SERIAL.print("[fastSyncRead] Fail, Lib error code: ");
-    DEBUG_SERIAL.println(dxl.getLastLibErrCode());
-  }
-
-  DEBUG_SERIAL.println();
-  DEBUG_SERIAL.println("=======================================================");
-
-  digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
-  delay(1000);
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+// Author: Ashe Kim
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+#define DXL_MOVING_STATUS_THRESHOLD  10
+
+/* FastsyncRead
+  DYNAMIXEL PROTOCOL 1.0 does NOT support Sync Read feature.
+  Structures containing the necessary information to process the 'fastSyncRead' packet.
+
+  typedef struct XELInfoFastSyncRead{
+  uint8_t *p_recv_buf;
+  uint8_t id;
+  uint8_t error;
+} __attribute__((packed)) XELInfoFastSyncRead_t;
+
+typedef struct InfoFastSyncReadInst{
+  uint16_t addr;
+  uint16_t addr_length;
+  XELInfoFastSyncRead_t* p_xels;
+  uint8_t xel_count;
+  bool is_info_changed;
+  InfoSyncBulkBuffer_t packet;
+} __attribute__((packed)) InfoFastSyncReadInst_t;
+*/
+
+/* syncWrite
+  DYNAMIXEL PROTOCOL 1.0 supports Control Table address up to 255.
+  Structures containing the necessary information to process the 'syncWrite' packet.
+
+  typedef struct XELInfoSyncWrite{
+    uint8_t* p_data;
+    uint8_t id;
+} __attribute__((packed)) XELInfoSyncWrite_t;
+
+  typedef struct InfoSyncWriteInst{
+    uint16_t addr;
+    uint16_t addr_length;
+    XELInfoSyncWrite_t* p_xels;
+    uint8_t xel_count;
+    bool is_info_changed;
+    InfoSyncBulkBuffer_t packet;
+} __attribute__((packed)) InfoSyncWriteInst_t;
+*/
+
+const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
+const uint8_t BROADCAST_ID = 254;
+const uint8_t DXL_ID_CNT = 2;
+const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {1, 2};
+const uint16_t user_pkt_buf_cap = 128;
+uint8_t user_pkt_buf[user_pkt_buf_cap];
+
+const uint16_t SR_START_ADDR = 132; //Present position
+const uint16_t SR_ADDR_LEN = 4;
+const uint16_t SW_START_ADDR = 116; //Goal position
+const uint16_t SW_ADDR_LEN = 4;
+
+typedef struct sr_data{
+  int32_t present_position;
+} __attribute__((packed)) sr_data_t;
+typedef struct sw_data{
+  int32_t goal_position;
+} __attribute__((packed)) sw_data_t;
+
+
+sr_data_t sr_data[DXL_ID_CNT];
+DYNAMIXEL::InfoFastSyncReadInst_t sr_infos;
+DYNAMIXEL::XELInfoFastSyncRead_t info_xels_sr[DXL_ID_CNT];
+
+sw_data_t sw_data[DXL_ID_CNT];
+DYNAMIXEL::InfoSyncWriteInst_t sw_infos;
+DYNAMIXEL::XELInfoSyncWrite_t info_xels_sw[DXL_ID_CNT];
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+int32_t dxl_goal_position = 1024;
+char keyboard;
+
+void setup() {
+  uint8_t i;
+  pinMode(LED_BUILTIN, OUTPUT);
+  DEBUG_SERIAL.begin(115200);
+  dxl.begin(57600);
+  dxl.setPortProtocolVersion(DYNAMIXEL_PROTOCOL_VERSION);
+  
+  for(i=0; i<DXL_ID_CNT; i++){
+    dxl.torqueOff(DXL_ID_LIST[i]);
+    dxl.setOperatingMode(DXL_ID_LIST[i], OP_POSITION);
+  }
+  dxl.torqueOn(BROADCAST_ID);
+
+  // Fill the members of structure to fastSyncRead using external user packet buffer
+  sr_infos.packet.buf_capacity = user_pkt_buf_cap;
+  sr_infos.packet.p_buf = user_pkt_buf;
+  sr_infos.packet.is_completed = false;
+  sr_infos.addr = SR_START_ADDR;
+  sr_infos.addr_length = SR_ADDR_LEN;
+  sr_infos.p_xels = info_xels_sr;
+  sr_infos.xel_count = 0;  
+
+  for(i=0; i<DXL_ID_CNT; i++){
+    info_xels_sr[i].id = DXL_ID_LIST[i];
+    info_xels_sr[i].p_recv_buf = (uint8_t*)&sr_data[i];
+    sr_infos.xel_count++;
+  }
+  sr_infos.is_info_changed = true;
+
+
+  // Fill the members of structure to syncWrite using internal packet buffer
+  sw_infos.packet.p_buf = nullptr;
+  sw_infos.packet.is_completed = false;
+  sw_infos.addr = SW_START_ADDR;
+  sw_infos.addr_length = SW_ADDR_LEN;
+  sw_infos.p_xels = info_xels_sw;
+  sw_infos.xel_count = 0;
+
+  // Insert a initial Position to the syncWrite Packet
+  for(i = 0; i < DXL_ID_CNT; i++){
+    sw_data[i].goal_position = dxl_goal_position;
+  }
+  
+  for(i=0; i<DXL_ID_CNT; i++){
+    info_xels_sw[i].id = DXL_ID_LIST[i];
+    info_xels_sw[i].p_data = (uint8_t*)&sw_data[i].goal_position;
+    sw_infos.xel_count++;
+  }
+  sw_infos.is_info_changed = true;
+}
+
+void loop() {
+  static uint32_t try_count = 0;
+  uint8_t i, recv_cnt;
+
+  if (Serial.available()) {
+    keyboard = Serial.read();
+    if (keyboard == 'u') { // position increase
+      dxl_goal_position = dxl_goal_position + 256;
+    }
+    else if (keyboard == 'd') { // position decrease
+      dxl_goal_position = dxl_goal_position - 256;
+    }
+    else if (keyboard == 'r') { // position reset
+      dxl_goal_position = 1024;
+    }
+  }
+
+  // Insert a new Goal Position to the syncWrite Packet
+  for(i = 0; i < DXL_ID_CNT; i++){
+    sw_data[i].goal_position = dxl_goal_position;
+  }
+
+  // Update the SyncWrite packet status
+  sw_infos.is_info_changed = true;
+
+  DEBUG_SERIAL.print("\n>>>>>> Sync Instruction Test : ");
+  DEBUG_SERIAL.println(try_count++);
+
+  // Build a syncWrite Packet and transmit to DYNAMIXEL
+  if(dxl.syncWrite(&sw_infos) == true){
+    DEBUG_SERIAL.println("[SyncWrite] Success");
+    for(i=0; i<sw_infos.xel_count; i++){
+      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sw_infos.p_xels[i].id);
+      DEBUG_SERIAL.print("\t Goal Position: ");DEBUG_SERIAL.println(sw_data[i].goal_position);
+    }   
+  }else{
+    DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
+    DEBUG_SERIAL.print(dxl.getLastLibErrCode());
+  }
+  DEBUG_SERIAL.println();
+
+  delay(300);
+
+  // Transmit predefined fastSyncRead instruction packet
+  // and receive a status packet from each DYNAMIXEL
+  recv_cnt = dxl.fastSyncRead(&sr_infos);
+  if(recv_cnt > 0){
+    DEBUG_SERIAL.print("[fastSyncRead] Success, Received ID Count: ");
+    DEBUG_SERIAL.println(recv_cnt);
+    for(i=0; i<recv_cnt; i++) {
+      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sr_infos.p_xels[i].id);
+      DEBUG_SERIAL.print("\t Present Position: ");DEBUG_SERIAL.println(sr_data[i].present_position);
+    }
+  } else {
+    DEBUG_SERIAL.print("[fastSyncRead] Fail, Lib error code: ");
+    DEBUG_SERIAL.println(dxl.getLastLibErrCode());
+  }
+
+  DEBUG_SERIAL.println();
+  DEBUG_SERIAL.println("=======================================================");
+
+  digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
+  delay(1000);
+}
diff --git a/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino b/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
index 1a362d4..4ce881f 100644
--- a/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
+++ b/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
@@ -41,6 +41,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
index 41fca46..d8759e0 100644
--- a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
+++ b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
@@ -140,6 +140,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/slave/slave.ino b/examples/advanced/slave/slave.ino
index 8a460a5..fba76a4 100644
--- a/examples/advanced/slave/slave.ino
+++ b/examples/advanced/slave/slave.ino
@@ -41,6 +41,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/slave_callback/slave_callback.ino b/examples/advanced/slave_callback/slave_callback.ino
index 0d3a28a..b287d95 100644
--- a/examples/advanced/slave_callback/slave_callback.ino
+++ b/examples/advanced/slave_callback/slave_callback.ino
@@ -41,6 +41,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
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 46fdc48..f956335 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
@@ -49,6 +49,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
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 e134c88..0b11183 100644
--- a/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
+++ b/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
@@ -41,6 +41,10 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/baudrate/baudrate.ino b/examples/basic/baudrate/baudrate.ino
index 7217279..87aeff1 100644
--- a/examples/basic/baudrate/baudrate.ino
+++ b/examples/basic/baudrate/baudrate.ino
@@ -1,106 +1,106 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-uint32_t BAUDRATE = 57600;
-uint32_t NEW_BAUDRATE = 1000000; //1Mbsp
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(BAUDRATE);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-
-  DEBUG_SERIAL.print("PROTOCOL ");
-  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
-  DEBUG_SERIAL.print(", ID ");
-  DEBUG_SERIAL.print(DXL_ID);
-  DEBUG_SERIAL.print(": ");
-  if(dxl.ping(DXL_ID) == true) {
-    DEBUG_SERIAL.print("ping succeeded!");
-    DEBUG_SERIAL.print(", Baudrate: ");
-    DEBUG_SERIAL.println(BAUDRATE);
-    
-    // Turn off torque when configuring items in EEPROM area
-    dxl.torqueOff(DXL_ID);
-    
-    // Set a new baudrate(1Mbps) for DYNAMIXEL
-    dxl.setBaudrate(DXL_ID, NEW_BAUDRATE);
-    DEBUG_SERIAL.println("Baudrate has been successfully changed to 1Mbps");
-
-    // Change to the new baudrate for communication.
-    dxl.begin(NEW_BAUDRATE);
-    // Change back to the initial baudrate
-    dxl.setBaudrate(DXL_ID, BAUDRATE);
-    DEBUG_SERIAL.println("Baudrate has been successfully changed back to initial baudrate");
-  }
-  else{
-    DEBUG_SERIAL.println("ping failed!");
-  }
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+uint32_t BAUDRATE = 57600;
+uint32_t NEW_BAUDRATE = 1000000; //1Mbsp
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(BAUDRATE);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+
+  DEBUG_SERIAL.print("PROTOCOL ");
+  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
+  DEBUG_SERIAL.print(", ID ");
+  DEBUG_SERIAL.print(DXL_ID);
+  DEBUG_SERIAL.print(": ");
+  if(dxl.ping(DXL_ID) == true) {
+    DEBUG_SERIAL.print("ping succeeded!");
+    DEBUG_SERIAL.print(", Baudrate: ");
+    DEBUG_SERIAL.println(BAUDRATE);
+    
+    // Turn off torque when configuring items in EEPROM area
+    dxl.torqueOff(DXL_ID);
+    
+    // Set a new baudrate(1Mbps) for DYNAMIXEL
+    dxl.setBaudrate(DXL_ID, NEW_BAUDRATE);
+    DEBUG_SERIAL.println("Baudrate has been successfully changed to 1Mbps");
+
+    // Change to the new baudrate for communication.
+    dxl.begin(NEW_BAUDRATE);
+    // Change back to the initial baudrate
+    dxl.setBaudrate(DXL_ID, BAUDRATE);
+    DEBUG_SERIAL.println("Baudrate has been successfully changed back to initial baudrate");
+  }
+  else{
+    DEBUG_SERIAL.println("ping failed!");
+  }
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
 }
\ No newline at end of file
diff --git a/examples/basic/copy_eeprom_x/copy_eeprom_x.ino b/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
index da7f3b7..f9287f7 100644
--- a/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
+++ b/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
@@ -41,8 +41,8 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
 #else // Other boards when using DynamixelShield
diff --git a/examples/basic/current_mode/current_mode.ino b/examples/basic/current_mode/current_mode.ino
index ed75d8c..3146e55 100644
--- a/examples/basic/current_mode/current_mode.ino
+++ b/examples/basic/current_mode/current_mode.ino
@@ -1,107 +1,107 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-  // Get DYNAMIXEL information
-  dxl.ping(DXL_ID);
-
-  // Turn off torque when configuring items in EEPROM area
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_CURRENT);
-  dxl.torqueOn(DXL_ID);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-   
-  // Please refer to e-Manual(http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/) for available range of value. 
-  // Set Goal Current using RAW unit
-  dxl.setGoalCurrent(DXL_ID, 200);
-  delay(1000);
-  // Print present current
-  DEBUG_SERIAL.print("Present Current(raw) : ");
-  DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID));
-  delay(1000);
-
-  // Set Goal Current using mA unit
-  dxl.setGoalCurrent(DXL_ID, 25.8, UNIT_MILLI_AMPERE);
-  delay(1000);
-  DEBUG_SERIAL.print("Present Current(mA) : ");
-  DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID, UNIT_MILLI_AMPERE));
-  delay(1000);
-
-  // Set Goal Current using percentage (-100.0 [%] ~ 100.0[%])
-  dxl.setGoalCurrent(DXL_ID, -10.2, UNIT_PERCENT);
-  delay(1000);
-  DEBUG_SERIAL.print("Present Current(ratio) : ");
-  DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID, UNIT_PERCENT));
-  delay(1000);
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+  // Get DYNAMIXEL information
+  dxl.ping(DXL_ID);
+
+  // Turn off torque when configuring items in EEPROM area
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_CURRENT);
+  dxl.torqueOn(DXL_ID);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+   
+  // Please refer to e-Manual(http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/) for available range of value. 
+  // Set Goal Current using RAW unit
+  dxl.setGoalCurrent(DXL_ID, 200);
+  delay(1000);
+  // Print present current
+  DEBUG_SERIAL.print("Present Current(raw) : ");
+  DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID));
+  delay(1000);
+
+  // Set Goal Current using mA unit
+  dxl.setGoalCurrent(DXL_ID, 25.8, UNIT_MILLI_AMPERE);
+  delay(1000);
+  DEBUG_SERIAL.print("Present Current(mA) : ");
+  DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID, UNIT_MILLI_AMPERE));
+  delay(1000);
+
+  // Set Goal Current using percentage (-100.0 [%] ~ 100.0[%])
+  dxl.setGoalCurrent(DXL_ID, -10.2, UNIT_PERCENT);
+  delay(1000);
+  DEBUG_SERIAL.print("Present Current(ratio) : ");
+  DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID, UNIT_PERCENT));
+  delay(1000);
+}
diff --git a/examples/basic/current_position_mode/current_position_mode.ino b/examples/basic/current_position_mode/current_position_mode.ino
index d883e50..3714e97 100644
--- a/examples/basic/current_position_mode/current_position_mode.ino
+++ b/examples/basic/current_position_mode/current_position_mode.ino
@@ -1,110 +1,110 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-/* NOTE: Please check if your DYNAMIXEL supports Current-based Position Control mode 
-* Supported Products : MX-64(2.0), MX-106(2.0), All X series(except XL-320, XL430-W250)
-*/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-  // Get DYNAMIXEL information
-  dxl.ping(DXL_ID);
-
-  // Turn off torque when configuring items in EEPROM area
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_CURRENT_BASED_POSITION);
-  dxl.torqueOn(DXL_ID);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-   
-  // Set Goal Current using RAW value
-  dxl.setGoalCurrent(DXL_ID, 200);
-  dxl.setGoalPosition(DXL_ID, 350.0, UNIT_DEGREE);
-
-  // Print present current
-  delay(500);
-  DEBUG_SERIAL.print("Present Current(raw) : ");
-  DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID));
-  
-  delay(5000);
-
-  // Set Goal Current 3.0% using percentage (-100.0 [%] ~ 100.0[%])
-  dxl.setGoalCurrent(DXL_ID, 3.0, UNIT_PERCENT);
-  dxl.setGoalPosition(DXL_ID, 0);
-
-  // Print present current in percentage
-  delay(500);
-  DEBUG_SERIAL.print("Present Current(ratio) : ");
-  DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID, UNIT_PERCENT));
-  
-  delay(5000);
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+/* NOTE: Please check if your DYNAMIXEL supports Current-based Position Control mode 
+* Supported Products : MX-64(2.0), MX-106(2.0), All X series(except XL-320, XL430-W250)
+*/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+  // Get DYNAMIXEL information
+  dxl.ping(DXL_ID);
+
+  // Turn off torque when configuring items in EEPROM area
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_CURRENT_BASED_POSITION);
+  dxl.torqueOn(DXL_ID);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+   
+  // Set Goal Current using RAW value
+  dxl.setGoalCurrent(DXL_ID, 200);
+  dxl.setGoalPosition(DXL_ID, 350.0, UNIT_DEGREE);
+
+  // Print present current
+  delay(500);
+  DEBUG_SERIAL.print("Present Current(raw) : ");
+  DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID));
+  
+  delay(5000);
+
+  // Set Goal Current 3.0% using percentage (-100.0 [%] ~ 100.0[%])
+  dxl.setGoalCurrent(DXL_ID, 3.0, UNIT_PERCENT);
+  dxl.setGoalPosition(DXL_ID, 0);
+
+  // Print present current in percentage
+  delay(500);
+  DEBUG_SERIAL.print("Present Current(ratio) : ");
+  DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID, UNIT_PERCENT));
+  
+  delay(5000);
+}
diff --git a/examples/basic/id/id.ino b/examples/basic/id/id.ino
index 5826dfb..41504f4 100644
--- a/examples/basic/id/id.ino
+++ b/examples/basic/id/id.ino
@@ -1,118 +1,118 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DEFAULT_DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-  uint8_t present_id = DEFAULT_DXL_ID;
-  uint8_t new_id = 0;
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);
-  while(!DEBUG_SERIAL);
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-
-  DEBUG_SERIAL.print("PROTOCOL ");
-  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
-  DEBUG_SERIAL.print(", ID ");
-  DEBUG_SERIAL.print(present_id);
-  DEBUG_SERIAL.print(": ");
-  if(dxl.ping(present_id) == true) {
-    DEBUG_SERIAL.print("ping succeeded!");
-    DEBUG_SERIAL.print(", Model Number: ");
-    DEBUG_SERIAL.println(dxl.getModelNumber(present_id));
-    
-    // Turn off torque when configuring items in EEPROM area
-    dxl.torqueOff(present_id);
-    
-    // set a new ID for DYNAMIXEL. Do not use ID 200
-    new_id = 100;
-    if(dxl.setID(present_id, new_id) == true){
-      present_id = new_id;
-      DEBUG_SERIAL.print("ID has been successfully changed to ");
-      DEBUG_SERIAL.println(new_id);
-
-      new_id = DEFAULT_DXL_ID;
-      if(dxl.setID(present_id, new_id) == true){
-        present_id = new_id;
-        DEBUG_SERIAL.print("ID has been successfully changed back to Original ID ");
-        DEBUG_SERIAL.println(new_id);
-      }else{
-        DEBUG_SERIAL.print("Failed to change ID to ");
-        DEBUG_SERIAL.println(new_id);
-      }
-    }else{
-      DEBUG_SERIAL.print("Failed to change ID to ");
-      DEBUG_SERIAL.println(new_id);
-    }
-  }
-  else{
-    DEBUG_SERIAL.println("ping failed!");
-  }
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DEFAULT_DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+  uint8_t present_id = DEFAULT_DXL_ID;
+  uint8_t new_id = 0;
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);
+  while(!DEBUG_SERIAL);
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+
+  DEBUG_SERIAL.print("PROTOCOL ");
+  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
+  DEBUG_SERIAL.print(", ID ");
+  DEBUG_SERIAL.print(present_id);
+  DEBUG_SERIAL.print(": ");
+  if(dxl.ping(present_id) == true) {
+    DEBUG_SERIAL.print("ping succeeded!");
+    DEBUG_SERIAL.print(", Model Number: ");
+    DEBUG_SERIAL.println(dxl.getModelNumber(present_id));
+    
+    // Turn off torque when configuring items in EEPROM area
+    dxl.torqueOff(present_id);
+    
+    // set a new ID for DYNAMIXEL. Do not use ID 200
+    new_id = 100;
+    if(dxl.setID(present_id, new_id) == true){
+      present_id = new_id;
+      DEBUG_SERIAL.print("ID has been successfully changed to ");
+      DEBUG_SERIAL.println(new_id);
+
+      new_id = DEFAULT_DXL_ID;
+      if(dxl.setID(present_id, new_id) == true){
+        present_id = new_id;
+        DEBUG_SERIAL.print("ID has been successfully changed back to Original ID ");
+        DEBUG_SERIAL.println(new_id);
+      }else{
+        DEBUG_SERIAL.print("Failed to change ID to ");
+        DEBUG_SERIAL.println(new_id);
+      }
+    }else{
+      DEBUG_SERIAL.print("Failed to change ID to ");
+      DEBUG_SERIAL.println(new_id);
+    }
+  }
+  else{
+    DEBUG_SERIAL.println("ping failed!");
+  }
+}
+
+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 c84dfaf..cf188ef 100644
--- a/examples/basic/led/led.ino
+++ b/examples/basic/led/led.ino
@@ -1,83 +1,83 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-  // Get DYNAMIXEL information
-  dxl.ping(DXL_ID);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-
-  // Turn on the LED on DYNAMIXEL
-  dxl.ledOn(DXL_ID);
-  delay(500);
-  // Turn off the LED on DYNAMIXEL
-  dxl.ledOff(DXL_ID);
-  delay(500);
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+  // Get DYNAMIXEL information
+  dxl.ping(DXL_ID);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+  // Turn on the LED on DYNAMIXEL
+  dxl.ledOn(DXL_ID);
+  delay(500);
+  // Turn off the LED on DYNAMIXEL
+  dxl.ledOff(DXL_ID);
+  delay(500);
+}
diff --git a/examples/basic/operation_mode/operation_mode.ino b/examples/basic/operation_mode/operation_mode.ino
index 6cac338..f68f80d 100644
--- a/examples/basic/operation_mode/operation_mode.ino
+++ b/examples/basic/operation_mode/operation_mode.ino
@@ -1,150 +1,150 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-/** Please refer to each DYNAMIXEL eManual(http://emanual.robotis.com) for supported Operating Mode
- * Operating Mode
- *  1. OP_POSITION                (Position Mode in protocol2.0, Joint Mode in protocol1.0)
- *  2. OP_VELOCITY                (Velocity Mode in protocol2.0, Speed Mode in protocol1.0)
- *  3. OP_PWM                     (PWM Mode in protocol2.0)
- *  4. OP_EXTENDED_POSITION       (Extended Position Mode in protocol2.0, Multi-turn Mode(only MX series) in protocol1.0)
- *  5. OP_CURRENT                 (Current Mode in protocol2.0, Torque Mode(only MX64,MX106) in protocol1.0)
- *  6. OP_CURRENT_BASED_POSITION  (Current Based Postion Mode in protocol2.0 (except MX28, XL430))
- */
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-
-  // Use Serial to debug.
-  DEBUG_SERIAL.begin(115200);
-
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-  // Get DYNAMIXEL information
-  dxl.ping(DXL_ID);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-  
-  // Position Control Mode in protocol2.0, Joint Mode in protocol1.0
-  // Turn off torquen when configuring items in EEPROM area
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_POSITION);
-  dxl.torqueOn(DXL_ID);
-  if(dxl.setGoalPosition(DXL_ID, 512)){
-    delay(1000);
-    DEBUG_SERIAL.print("Present Position : ");
-    DEBUG_SERIAL.println(dxl.getPresentPosition(DXL_ID)); DEBUG_SERIAL.println();
-  }
-
-  // Velocity Contorl Mode in protocol2.0, Speed Mode in protocol1.0
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_VELOCITY);
-  dxl.torqueOn(DXL_ID);
-  if(dxl.setGoalVelocity(DXL_ID, 128)){
-    delay(1000);
-    DEBUG_SERIAL.print("Present Velocity : ");
-    DEBUG_SERIAL.println(dxl.getPresentVelocity(DXL_ID)); DEBUG_SERIAL.println();
-  }
-
-  // Extended Position Contorl Mode in protocol2.0, Multi-turn Mode(only MX series) in protocol1.0
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_EXTENDED_POSITION);
-  dxl.torqueOn(DXL_ID);
-  if(dxl.setGoalPosition(DXL_ID, 4096)){
-    delay(1000);
-    DEBUG_SERIAL.print("Present Extended Position : ");
-    DEBUG_SERIAL.println(dxl.getPresentPosition(DXL_ID)); DEBUG_SERIAL.println();
-  }
-
-  // PWM Contorl Mode in protocol2.0
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_PWM);
-  dxl.torqueOn(DXL_ID);
-  if(dxl.setGoalPWM(DXL_ID, 200)){
-    delay(1000);
-    DEBUG_SERIAL.print("Present PWM : ");
-    DEBUG_SERIAL.println(dxl.getPresentPWM(DXL_ID)); DEBUG_SERIAL.println();
-  }
-  
-  // Current Contorl Mode in protocol2.0, Torque Mode(only MX64,MX106) in protocol1.0
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_CURRENT);
-  dxl.torqueOn(DXL_ID);
-  if(dxl.setGoalCurrent(DXL_ID, 256)){
-    delay(1000);
-    DEBUG_SERIAL.print("Present Current : ");
-    DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID)); DEBUG_SERIAL.println();
-  }
-  
-  // Current Based Postion Contorl Mode in protocol2.0 (except MX28, XL430)
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_CURRENT_BASED_POSITION);
-  dxl.torqueOn(DXL_ID);
-  if(dxl.setGoalPosition(DXL_ID, 8192)){
-    delay(1000);
-    DEBUG_SERIAL.print("Present Current Based Position : ");
-    DEBUG_SERIAL.println(dxl.getPresentPosition(DXL_ID)); DEBUG_SERIAL.println();
-  }
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+/** Please refer to each DYNAMIXEL eManual(http://emanual.robotis.com) for supported Operating Mode
+ * Operating Mode
+ *  1. OP_POSITION                (Position Mode in protocol2.0, Joint Mode in protocol1.0)
+ *  2. OP_VELOCITY                (Velocity Mode in protocol2.0, Speed Mode in protocol1.0)
+ *  3. OP_PWM                     (PWM Mode in protocol2.0)
+ *  4. OP_EXTENDED_POSITION       (Extended Position Mode in protocol2.0, Multi-turn Mode(only MX series) in protocol1.0)
+ *  5. OP_CURRENT                 (Current Mode in protocol2.0, Torque Mode(only MX64,MX106) in protocol1.0)
+ *  6. OP_CURRENT_BASED_POSITION  (Current Based Postion Mode in protocol2.0 (except MX28, XL430))
+ */
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+
+  // Use Serial to debug.
+  DEBUG_SERIAL.begin(115200);
+
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+  // Get DYNAMIXEL information
+  dxl.ping(DXL_ID);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  
+  // Position Control Mode in protocol2.0, Joint Mode in protocol1.0
+  // Turn off torquen when configuring items in EEPROM area
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_POSITION);
+  dxl.torqueOn(DXL_ID);
+  if(dxl.setGoalPosition(DXL_ID, 512)){
+    delay(1000);
+    DEBUG_SERIAL.print("Present Position : ");
+    DEBUG_SERIAL.println(dxl.getPresentPosition(DXL_ID)); DEBUG_SERIAL.println();
+  }
+
+  // Velocity Contorl Mode in protocol2.0, Speed Mode in protocol1.0
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_VELOCITY);
+  dxl.torqueOn(DXL_ID);
+  if(dxl.setGoalVelocity(DXL_ID, 128)){
+    delay(1000);
+    DEBUG_SERIAL.print("Present Velocity : ");
+    DEBUG_SERIAL.println(dxl.getPresentVelocity(DXL_ID)); DEBUG_SERIAL.println();
+  }
+
+  // Extended Position Contorl Mode in protocol2.0, Multi-turn Mode(only MX series) in protocol1.0
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_EXTENDED_POSITION);
+  dxl.torqueOn(DXL_ID);
+  if(dxl.setGoalPosition(DXL_ID, 4096)){
+    delay(1000);
+    DEBUG_SERIAL.print("Present Extended Position : ");
+    DEBUG_SERIAL.println(dxl.getPresentPosition(DXL_ID)); DEBUG_SERIAL.println();
+  }
+
+  // PWM Contorl Mode in protocol2.0
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_PWM);
+  dxl.torqueOn(DXL_ID);
+  if(dxl.setGoalPWM(DXL_ID, 200)){
+    delay(1000);
+    DEBUG_SERIAL.print("Present PWM : ");
+    DEBUG_SERIAL.println(dxl.getPresentPWM(DXL_ID)); DEBUG_SERIAL.println();
+  }
+  
+  // Current Contorl Mode in protocol2.0, Torque Mode(only MX64,MX106) in protocol1.0
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_CURRENT);
+  dxl.torqueOn(DXL_ID);
+  if(dxl.setGoalCurrent(DXL_ID, 256)){
+    delay(1000);
+    DEBUG_SERIAL.print("Present Current : ");
+    DEBUG_SERIAL.println(dxl.getPresentCurrent(DXL_ID)); DEBUG_SERIAL.println();
+  }
+  
+  // Current Based Postion Contorl Mode in protocol2.0 (except MX28, XL430)
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_CURRENT_BASED_POSITION);
+  dxl.torqueOn(DXL_ID);
+  if(dxl.setGoalPosition(DXL_ID, 8192)){
+    delay(1000);
+    DEBUG_SERIAL.print("Present Current Based Position : ");
+    DEBUG_SERIAL.println(dxl.getPresentPosition(DXL_ID)); DEBUG_SERIAL.println();
+  }
+}
diff --git a/examples/basic/ping/ping.ino b/examples/basic/ping/ping.ino
index f5514b1..aec1744 100644
--- a/examples/basic/ping/ping.ino
+++ b/examples/basic/ping/ping.ino
@@ -1,119 +1,119 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-
-  // Use Serial to debug.
-  DEBUG_SERIAL.begin(115200);
-
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-
-  DEBUG_SERIAL.print("PROTOCOL ");
-  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
-  DEBUG_SERIAL.print(", ID ");
-  DEBUG_SERIAL.print(DXL_ID);
-  DEBUG_SERIAL.print(": ");
-  if(dxl.ping(DXL_ID) == true){
-    DEBUG_SERIAL.print("ping succeeded!");
-    DEBUG_SERIAL.print(", Model Number: ");
-    DEBUG_SERIAL.println(dxl.getModelNumber(DXL_ID));
-  }else{
-    DEBUG_SERIAL.print("ping failed!, err code: ");
-    DEBUG_SERIAL.println(dxl.getLastLibErrCode());
-  }
-  delay(500);
-
-  FindServos();
-}
-
-
-DYNAMIXEL::InfoFromPing_t ping_info[32];
-void FindServos(void) {
-  Serial.println("  Try Protocol 2 - broadcast ping: ");
-  Serial.flush(); // flush it as ping may take awhile... 
-      
-  if (uint8_t count_pinged = dxl.ping(DXL_BROADCAST_ID, ping_info, 
-    sizeof(ping_info)/sizeof(ping_info[0]))) {
-    Serial.print("Detected Dynamixel : \n");
-    for (int i = 0; i < count_pinged; i++)
-    {
-      Serial.print("    ");
-      Serial.print(ping_info[i].id, DEC);
-      Serial.print(", Model:");
-      Serial.print(ping_info[i].model_number);
-      Serial.print(", Ver:");
-      Serial.println(ping_info[i].firmware_version, DEC);
-      //g_servo_protocol[i] = 2;
-    }
-  }else{
-    Serial.print("Broadcast returned no items : ");
-    Serial.println(dxl.getLastLibErrCode());
-  }
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+
+  // Use Serial to debug.
+  DEBUG_SERIAL.begin(115200);
+
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+  DEBUG_SERIAL.print("PROTOCOL ");
+  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
+  DEBUG_SERIAL.print(", ID ");
+  DEBUG_SERIAL.print(DXL_ID);
+  DEBUG_SERIAL.print(": ");
+  if(dxl.ping(DXL_ID) == true){
+    DEBUG_SERIAL.print("ping succeeded!");
+    DEBUG_SERIAL.print(", Model Number: ");
+    DEBUG_SERIAL.println(dxl.getModelNumber(DXL_ID));
+  }else{
+    DEBUG_SERIAL.print("ping failed!, err code: ");
+    DEBUG_SERIAL.println(dxl.getLastLibErrCode());
+  }
+  delay(500);
+
+  FindServos();
+}
+
+
+DYNAMIXEL::InfoFromPing_t ping_info[32];
+void FindServos(void) {
+  Serial.println("  Try Protocol 2 - broadcast ping: ");
+  Serial.flush(); // flush it as ping may take awhile... 
+      
+  if (uint8_t count_pinged = dxl.ping(DXL_BROADCAST_ID, ping_info, 
+    sizeof(ping_info)/sizeof(ping_info[0]))) {
+    Serial.print("Detected Dynamixel : \n");
+    for (int i = 0; i < count_pinged; i++)
+    {
+      Serial.print("    ");
+      Serial.print(ping_info[i].id, DEC);
+      Serial.print(", Model:");
+      Serial.print(ping_info[i].model_number);
+      Serial.print(", Ver:");
+      Serial.println(ping_info[i].firmware_version, DEC);
+      //g_servo_protocol[i] = 2;
+    }
+  }else{
+    Serial.print("Broadcast returned no items : ");
+    Serial.println(dxl.getLastLibErrCode());
+  }
 }
\ 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 ad06d8c..ed67889 100644
--- a/examples/basic/position_mode/position_mode.ino
+++ b/examples/basic/position_mode/position_mode.ino
@@ -1,116 +1,116 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);
-  while(!DEBUG_SERIAL);
-
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-  // Get DYNAMIXEL information
-  dxl.ping(DXL_ID);
-
-  // Turn off torque when configuring items in EEPROM area
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_POSITION);
-  dxl.torqueOn(DXL_ID);
-
-  // Limit the maximum velocity in Position Control Mode. Use 0 for Max speed
-  dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 30);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-  
-  // Please refer to e-Manual(http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/) for available range of value. 
-  // Set Goal Position in RAW value
-  dxl.setGoalPosition(DXL_ID, 512);
-
-  int i_present_position = 0;
-  float f_present_position = 0.0;
-
-  while (abs(512 - i_present_position) > 10)
-  {
-    f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
-    i_present_position = dxl.getPresentPosition(DXL_ID);
-    DEBUG_SERIAL.print("Present_Position(raw) : ");
-    DEBUG_SERIAL.println(i_present_position);
-  }
-  delay(500);
-
-  // Set Goal Position in DEGREE value
-  dxl.setGoalPosition(DXL_ID, 5.7, UNIT_DEGREE);
-  
-  while (abs(5.7 - f_present_position) > 2.0)
-  {
-    f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
-    i_present_position = dxl.getPresentPosition(DXL_ID);
-    DEBUG_SERIAL.print("Present_Position(raw) : ");
-    DEBUG_SERIAL.println(i_present_position);
-  }
-  delay(500);
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);
+  while(!DEBUG_SERIAL);
+
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+  // Get DYNAMIXEL information
+  dxl.ping(DXL_ID);
+
+  // Turn off torque when configuring items in EEPROM area
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_POSITION);
+  dxl.torqueOn(DXL_ID);
+
+  // Limit the maximum velocity in Position Control Mode. Use 0 for Max speed
+  // dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 30);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  
+  // Please refer to e-Manual(http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/) for available range of value. 
+  // Set Goal Position in RAW value
+  dxl.setGoalPosition(DXL_ID, 4000);
+
+  int i_present_position = 0;
+  float f_present_position = 0.0;
+
+  while (abs(512 - i_present_position) > 10)
+  {
+    f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
+    i_present_position = dxl.getPresentPosition(DXL_ID);
+    DEBUG_SERIAL.print("Present_Position(raw) : ");
+    DEBUG_SERIAL.println(i_present_position);
+  }
+  delay(500);
+
+  // Set Goal Position in DEGREE value
+  dxl.setGoalPosition(DXL_ID, 5.7, UNIT_DEGREE);
+  
+  while (abs(5.7 - f_present_position) > 2.0)
+  {
+    f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
+    i_present_position = dxl.getPresentPosition(DXL_ID);
+    DEBUG_SERIAL.print("Present_Position(raw) : ");
+    DEBUG_SERIAL.println(i_present_position);
+  }
+  delay(500);
+}
diff --git a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
index 9df9f11..d67e2b4 100644
--- a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
+++ b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
@@ -1,139 +1,139 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-/* NOTE: Please check if your DYNAMIXEL supports Profile Control
-* Supported Products : MX-28(2.0), MX-64(2.0), MX-106(2.0), All X series(except XL-320)
-* PRO(A) series / PRO+ series
-*/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;   
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);
-
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-  // Get DYNAMIXEL information
-  dxl.ping(DXL_ID);
-  
-  // Turn on the LED on DYNAMIXEL
-  dxl.ledOn(DXL_ID);
-  delay(500);
-  // Turn off the LED on DYNAMIXEL
-  dxl.ledOff(DXL_ID);
-  delay(500);
-
-  // Turn off torque when configuring items in EEPROM area
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_POSITION);
-  dxl.torqueOn(DXL_ID);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-  uint8_t key_input;
-  DEBUG_SERIAL.println("Select Profile Type :");
-  DEBUG_SERIAL.println("[1] Low Accel / High Vel");
-  DEBUG_SERIAL.println("[2] Max Accel / Low Vel");
-  DEBUG_SERIAL.println("[3] Max Accel / Max Vel");
-  
-  while(DEBUG_SERIAL.available()==0);
-  key_input = DEBUG_SERIAL.read();
-
-  switch(key_input) {
-    case '1':
-      // Low Profile Acceleration, High Profile Velocity
-      // Refer to API documentation for available parameters
-      // http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/#dynamixelshieldv010-or-above
-      dxl.writeControlTableItem(PROFILE_ACCELERATION, DXL_ID, 50);
-      dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 300);
-      break;
-    case '2':
-      // Max Profile Acceleration, Low Profile Velocity
-      dxl.writeControlTableItem(PROFILE_ACCELERATION, DXL_ID, 0);
-      dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 100);
-      break;
-    case '3':
-      // Max Profile Acceleration, Max Profile Velocity
-      // WARNING : Please BE AWARE that this option will make a vibrant motion for PRO(A) or PRO+ series that requires high current supply.
-      dxl.writeControlTableItem(PROFILE_ACCELERATION, DXL_ID, 0);
-      dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 0);
-      break;
-    default:
-      break;
-  }
-
-  // Set Goal Position in RAW value
-  dxl.setGoalPosition(DXL_ID, 0);
-  delay(500);
-  // Check if DYNAMIXEL is in motion
-  while(dxl.readControlTableItem(MOVING, DXL_ID));
-  
-  // Set Goal Position in angle(degree)
-  dxl.setGoalPosition(DXL_ID, 179.0, UNIT_DEGREE);
-  delay(500);
-  // Check if DYNAMIXEL is in motion
-  while(dxl.readControlTableItem(MOVING, DXL_ID));
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+/* NOTE: Please check if your DYNAMIXEL supports Profile Control
+* Supported Products : MX-28(2.0), MX-64(2.0), MX-106(2.0), All X series(except XL-320)
+* PRO(A) series / PRO+ series
+*/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;   
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);
+
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+  // Get DYNAMIXEL information
+  dxl.ping(DXL_ID);
+  
+  // Turn on the LED on DYNAMIXEL
+  dxl.ledOn(DXL_ID);
+  delay(500);
+  // Turn off the LED on DYNAMIXEL
+  dxl.ledOff(DXL_ID);
+  delay(500);
+
+  // Turn off torque when configuring items in EEPROM area
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_POSITION);
+  dxl.torqueOn(DXL_ID);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  uint8_t key_input;
+  DEBUG_SERIAL.println("Select Profile Type :");
+  DEBUG_SERIAL.println("[1] Low Accel / High Vel");
+  DEBUG_SERIAL.println("[2] Max Accel / Low Vel");
+  DEBUG_SERIAL.println("[3] Max Accel / Max Vel");
+  
+  while(DEBUG_SERIAL.available()==0);
+  key_input = DEBUG_SERIAL.read();
+
+  switch(key_input) {
+    case '1':
+      // Low Profile Acceleration, High Profile Velocity
+      // Refer to API documentation for available parameters
+      // http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/#dynamixelshieldv010-or-above
+      dxl.writeControlTableItem(PROFILE_ACCELERATION, DXL_ID, 50);
+      dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 300);
+      break;
+    case '2':
+      // Max Profile Acceleration, Low Profile Velocity
+      dxl.writeControlTableItem(PROFILE_ACCELERATION, DXL_ID, 0);
+      dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 100);
+      break;
+    case '3':
+      // Max Profile Acceleration, Max Profile Velocity
+      // WARNING : Please BE AWARE that this option will make a vibrant motion for PRO(A) or PRO+ series that requires high current supply.
+      dxl.writeControlTableItem(PROFILE_ACCELERATION, DXL_ID, 0);
+      dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 0);
+      break;
+    default:
+      break;
+  }
+
+  // Set Goal Position in RAW value
+  dxl.setGoalPosition(DXL_ID, 0);
+  delay(500);
+  // Check if DYNAMIXEL is in motion
+  while(dxl.readControlTableItem(MOVING, DXL_ID));
+  
+  // Set Goal Position in angle(degree)
+  dxl.setGoalPosition(DXL_ID, 179.0, UNIT_DEGREE);
+  delay(500);
+  // Check if DYNAMIXEL is in motion
+  while(dxl.readControlTableItem(MOVING, DXL_ID));
+}
diff --git a/examples/basic/pwm_mode/pwm_mode.ino b/examples/basic/pwm_mode/pwm_mode.ino
index 2cc3625..13fc455 100644
--- a/examples/basic/pwm_mode/pwm_mode.ino
+++ b/examples/basic/pwm_mode/pwm_mode.ino
@@ -1,100 +1,100 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-  // Get DYNAMIXEL information
-  dxl.ping(DXL_ID);
-
-  // Turn off torque when configuring items in EEPROM area
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_PWM);
-  dxl.torqueOn(DXL_ID);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-   
-  // Please refer to e-Manual(http://emanual.robotis.com) for available range of value. 
-  // Set Goal PWM using RAW unit
-  dxl.setGoalPWM(DXL_ID, 300);
-  delay(1000);
-  // Print present PWM
-  DEBUG_SERIAL.print("Present PWM(raw) : ");
-  DEBUG_SERIAL.println(dxl.getPresentPWM(DXL_ID));
-  delay(1000);
-
-  // Set Goal PWM using percentage (-100.0 [%] ~ 100.0 [%])
-  dxl.setGoalPWM(DXL_ID, -40.8, UNIT_PERCENT);
-  delay(1000);
-  DEBUG_SERIAL.print("Present PWM(ratio) : ");
-  DEBUG_SERIAL.println(dxl.getPresentPWM(DXL_ID, UNIT_PERCENT));
-  delay(1000);
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+  // Get DYNAMIXEL information
+  dxl.ping(DXL_ID);
+
+  // Turn off torque when configuring items in EEPROM area
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_PWM);
+  dxl.torqueOn(DXL_ID);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+   
+  // Please refer to e-Manual(http://emanual.robotis.com) for available range of value. 
+  // Set Goal PWM using RAW unit
+  dxl.setGoalPWM(DXL_ID, 300);
+  delay(1000);
+  // Print present PWM
+  DEBUG_SERIAL.print("Present PWM(raw) : ");
+  DEBUG_SERIAL.println(dxl.getPresentPWM(DXL_ID));
+  delay(1000);
+
+  // Set Goal PWM using percentage (-100.0 [%] ~ 100.0 [%])
+  dxl.setGoalPWM(DXL_ID, -40.8, UNIT_PERCENT);
+  delay(1000);
+  DEBUG_SERIAL.print("Present PWM(ratio) : ");
+  DEBUG_SERIAL.println(dxl.getPresentPWM(DXL_ID, UNIT_PERCENT));
+  delay(1000);
+}
diff --git a/examples/basic/scan_dynamixel/scan_dynamixel.ino b/examples/basic/scan_dynamixel/scan_dynamixel.ino
index 6755d34..80607b6 100644
--- a/examples/basic/scan_dynamixel/scan_dynamixel.ino
+++ b/examples/basic/scan_dynamixel/scan_dynamixel.ino
@@ -1,103 +1,103 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-#define MAX_BAUD  5
-const int32_t buad[MAX_BAUD] = {57600, 115200, 1000000, 2000000, 3000000};
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-  int8_t index = 0;
-  int8_t found_dynamixel = 0;
-
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);   //set debugging port baudrate to 115200bps
-  while(!DEBUG_SERIAL);         //Wait until the serial port is opened
-    
-  for(int8_t protocol = 1; protocol < 3; protocol++) {
-    // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-    dxl.setPortProtocolVersion((float)protocol);
-    DEBUG_SERIAL.print("SCAN PROTOCOL ");
-    DEBUG_SERIAL.println(protocol);
-    
-    for(index = 0; index < MAX_BAUD; index++) {
-      // Set Port baudrate.
-      DEBUG_SERIAL.print("SCAN BAUDRATE ");
-      DEBUG_SERIAL.println(buad[index]);
-      dxl.begin(buad[index]);
-      for(int id = 0; id < DXL_BROADCAST_ID; id++) {
-        //iterate until all ID in each buadrate is scanned.
-        if(dxl.ping(id)) {
-          DEBUG_SERIAL.print("ID : ");
-          DEBUG_SERIAL.print(id);
-          DEBUG_SERIAL.print(", Model Number: ");
-          DEBUG_SERIAL.println(dxl.getModelNumber(id));
-          found_dynamixel++;
-        }
-      }
-    }
-  }
-  
-  DEBUG_SERIAL.print("Total ");
-  DEBUG_SERIAL.print(found_dynamixel);
-  DEBUG_SERIAL.println(" DYNAMIXEL(s) found!");
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+#define MAX_BAUD  5
+const int32_t buad[MAX_BAUD] = {57600, 115200, 1000000, 2000000, 3000000};
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+  int8_t index = 0;
+  int8_t found_dynamixel = 0;
+
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);   //set debugging port baudrate to 115200bps
+  while(!DEBUG_SERIAL);         //Wait until the serial port is opened
+    
+  for(int8_t protocol = 1; protocol < 3; protocol++) {
+    // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+    dxl.setPortProtocolVersion((float)protocol);
+    DEBUG_SERIAL.print("SCAN PROTOCOL ");
+    DEBUG_SERIAL.println(protocol);
+    
+    for(index = 0; index < MAX_BAUD; index++) {
+      // Set Port baudrate.
+      DEBUG_SERIAL.print("SCAN BAUDRATE ");
+      DEBUG_SERIAL.println(buad[index]);
+      dxl.begin(buad[index]);
+      for(int id = 0; id < DXL_BROADCAST_ID; id++) {
+        //iterate until all ID in each buadrate is scanned.
+        if(dxl.ping(id)) {
+          DEBUG_SERIAL.print("ID : ");
+          DEBUG_SERIAL.print(id);
+          DEBUG_SERIAL.print(", Model Number: ");
+          DEBUG_SERIAL.println(dxl.getModelNumber(id));
+          found_dynamixel++;
+        }
+      }
+    }
+  }
+  
+  DEBUG_SERIAL.print("Total ");
+  DEBUG_SERIAL.print(found_dynamixel);
+  DEBUG_SERIAL.println(" DYNAMIXEL(s) found!");
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
 }
\ No newline at end of file
diff --git a/examples/basic/torque/torque.ino b/examples/basic/torque/torque.ino
index 3511c1f..af2ccad 100644
--- a/examples/basic/torque/torque.ino
+++ b/examples/basic/torque/torque.ino
@@ -1,88 +1,88 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-/*
-* Please refer to each DYNAMIXEL eManual(http://emanual.robotis.com/docs/en/dxl/) for more information regarding Torque.
-*/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-  // Get DYNAMIXEL information
-  dxl.ping(DXL_ID);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-
-  // Turn on the output Torque.
-  dxl.torqueOn(DXL_ID);
-  delay(2000);
-  
-  // Turn off the output Torque.
-  dxl.torqueOff(DXL_ID);
-  delay(2000);
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+/*
+* Please refer to each DYNAMIXEL eManual(http://emanual.robotis.com/docs/en/dxl/) for more information regarding Torque.
+*/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+  // Get DYNAMIXEL information
+  dxl.ping(DXL_ID);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+  // Turn on the output Torque.
+  dxl.torqueOn(DXL_ID);
+  delay(2000);
+  
+  // Turn off the output Torque.
+  dxl.torqueOff(DXL_ID);
+  delay(2000);
+}
diff --git a/examples/basic/velocity_mode/velocity_mode.ino b/examples/basic/velocity_mode/velocity_mode.ino
index e189812..98cbeef 100644
--- a/examples/basic/velocity_mode/velocity_mode.ino
+++ b/examples/basic/velocity_mode/velocity_mode.ino
@@ -1,107 +1,107 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
- 
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-//This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-  // Get DYNAMIXEL information
-  dxl.ping(DXL_ID);
-
-  // Turn off torque when configuring items in EEPROM area
-  dxl.torqueOff(DXL_ID);
-  dxl.setOperatingMode(DXL_ID, OP_VELOCITY);
-  dxl.torqueOn(DXL_ID);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-  
-  // Please refer to e-Manual(http://emanual.robotis.com) for available range of value. 
-  // Set Goal Velocity using RAW unit
-  dxl.setGoalVelocity(DXL_ID, 200);
-  delay(1000);
-  // Print present velocity
-  DEBUG_SERIAL.print("Present Velocity(raw) : ");
-  DEBUG_SERIAL.println(dxl.getPresentVelocity(DXL_ID));
-  delay(1000);
-
-  // Set Goal Velocity using RPM
-  dxl.setGoalVelocity(DXL_ID, 25.8, UNIT_RPM);
-  delay(1000);
-  DEBUG_SERIAL.print("Present Velocity(rpm) : ");
-  DEBUG_SERIAL.println(dxl.getPresentVelocity(DXL_ID, UNIT_RPM));
-  delay(1000);
-
-  // Set Goal Velocity using percentage (-100.0 [%] ~ 100.0 [%])
-  dxl.setGoalVelocity(DXL_ID, -10.2, UNIT_PERCENT);
-  delay(1000);
-  DEBUG_SERIAL.print("Present Velocity(ratio) : ");
-  DEBUG_SERIAL.println(dxl.getPresentVelocity(DXL_ID, UNIT_PERCENT));
-  delay(1000);
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+ 
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+  // Get DYNAMIXEL information
+  dxl.ping(DXL_ID);
+
+  // Turn off torque when configuring items in EEPROM area
+  dxl.torqueOff(DXL_ID);
+  dxl.setOperatingMode(DXL_ID, OP_VELOCITY);
+  dxl.torqueOn(DXL_ID);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  
+  // Please refer to e-Manual(http://emanual.robotis.com) for available range of value. 
+  // Set Goal Velocity using RAW unit
+  dxl.setGoalVelocity(DXL_ID, 200);
+  delay(1000);
+  // Print present velocity
+  DEBUG_SERIAL.print("Present Velocity(raw) : ");
+  DEBUG_SERIAL.println(dxl.getPresentVelocity(DXL_ID));
+  delay(1000);
+
+  // Set Goal Velocity using RPM
+  dxl.setGoalVelocity(DXL_ID, 25.8, UNIT_RPM);
+  delay(1000);
+  DEBUG_SERIAL.print("Present Velocity(rpm) : ");
+  DEBUG_SERIAL.println(dxl.getPresentVelocity(DXL_ID, UNIT_RPM));
+  delay(1000);
+
+  // Set Goal Velocity using percentage (-100.0 [%] ~ 100.0 [%])
+  dxl.setGoalVelocity(DXL_ID, -10.2, UNIT_PERCENT);
+  delay(1000);
+  DEBUG_SERIAL.print("Present Velocity(ratio) : ");
+  DEBUG_SERIAL.println(dxl.getPresentVelocity(DXL_ID, UNIT_PERCENT));
+  delay(1000);
+}
diff --git a/examples/blender/openmanipulator_x/openmanipulator_x.ino b/examples/blender/openmanipulator_x/openmanipulator_x.ino
index d4c21ff..a33f92f 100644
--- a/examples/blender/openmanipulator_x/openmanipulator_x.ino
+++ b/examples/blender/openmanipulator_x/openmanipulator_x.ino
@@ -1,896 +1,896 @@
-// Copyright 2021 ROBOTIS CO., LTD.
-//
-// Licensed under the Apache License, Version 2.0 (the "License");
-// you may not use this file except in compliance with the License.
-// You may obtain a copy of the License at
-//
-//     http://www.apache.org/licenses/LICENSE-2.0
-//
-// Unless required by applicable law or agreed to in writing, software
-// distributed under the License is distributed on an "AS IS" BASIS,
-// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-// See the License for the specific language governing permissions and
-// limitations under the License.
-
-// Example Environment
-//
-// - DYNAMIXEL: X series (except XL-320)
-//              ID = 11, 12, 13, 14, 15, Baudrate = 4000000bps, Protocol 2.0
-// - Controller: OpenCR 1.0
-// - Library: DYNAMIXEL2Arduino
-// - Software: Blender 2.93.1
-//             Arduino IDE
-//
-// Author: David Park
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
-
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-// This namespace is required to use Control table item names
-using namespace ControlTableItem;
-
-// DYNAMIXEL Configuration
-const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
-// OpenMANIPULATOR has ID of 11 ~ 15 by default
-const uint8_t DYNAMIXEL_ID[] = {1, 2, 3, 4, 5};
-const uint8_t NUMBER_OF_JOINT = sizeof(DYNAMIXEL_ID)/sizeof(uint8_t);
-
-
-// Data struct for SyncRead
-typedef struct sync_read_data {
-  int32_t present_position;
-} __attribute__((packed)) sync_read_data_t;
-
-// Sync Read Present Position
-const uint16_t PRESENT_POSITION_ADDRESS = 132;
-const uint16_t LENGTH_TO_SYNC_READ = 4;
-
-// Sync Read
-sync_read_data_t sync_read_data[NUMBER_OF_JOINT];
-DYNAMIXEL::InfoSyncReadInst_t sync_read_information;
-DYNAMIXEL::XELInfoSyncRead_t sync_read_dynamixel_info[NUMBER_OF_JOINT];
-
-
-// Data struct for SyncWrite
-typedef struct sync_write_data {
-  int32_t goal_position;
-} __attribute__((packed)) sync_write_data_t;
-
-// Sync Write Goal Position
-const uint16_t GOAL_POSITION_ADDRESS = 116; 
-const uint16_t LENGTH_TO_SYNC_WRITE = 4;
-
-// Sync Write
-sync_write_data_t sync_write_data[NUMBER_OF_JOINT];
-DYNAMIXEL::InfoSyncWriteInst_t sync_write_information;
-DYNAMIXEL::XELInfoSyncWrite_t sync_write_dynamixel_info[NUMBER_OF_JOINT];
-
-
-const uint16_t MAX_PACKET_BUFFER_LENGTH = 128;
-uint8_t packet_buffer[MAX_PACKET_BUFFER_LENGTH];
-
-int loop_counts = 2;  // Number of times to play the motion
-int frame_time = 0;
-unsigned long current_time = 0;
-unsigned long saved_time = 0;
-
-// The number of information in each frame. (Time + Position of each Joint)
-const int MAX_MOTION_DATA_COLUMN_INDEX = 1 + NUMBER_OF_JOINT;
-
-// Paste all keyframes.
-const int MOTION_DATA [][MAX_MOTION_DATA_COLUMN_INDEX]{
-//Time[ms],ID1,ID2,ID3,ID4,Hand,
-{100,2047,1535,2957,1649,2039},
-{200,2047,1535,2957,1650,2039},
-{300,2047,1534,2956,1652,2039},
-{400,2047,1533,2956,1655,2039},
-{500,2047,1531,2954,1660,2039},
-{600,2047,1529,2953,1666,2039},
-{700,2047,1526,2951,1674,2039},
-{800,2047,1523,2949,1682,2039},
-{900,2047,1520,2947,1692,2039},
-{1000,2047,1516,2944,1702,2039},
-{1100,2047,1511,2941,1714,2039},
-{1200,2047,1507,2938,1726,2039},
-{1300,2047,1502,2934,1740,2039},
-{1400,2047,1497,2930,1754,2039},
-{1500,2047,1492,2926,1769,2039},
-{1600,2047,1486,2921,1784,2039},
-{1700,2047,1480,2916,1800,2039},
-{1800,2047,1474,2911,1817,2039},
-{1900,2047,1468,2905,1834,2039},
-{2000,2047,1462,2899,1851,2039},
-{2100,2047,1455,2893,1869,2039},
-{2200,2047,1448,2886,1887,2039},
-{2300,2047,1442,2879,1906,2039},
-{2400,2047,1435,2872,1924,2039},
-{2500,2047,1428,2865,1943,2039},
-{2600,2047,1421,2857,1962,2039},
-{2700,2047,1415,2849,1980,2039},
-{2800,2047,1408,2840,1999,2039},
-{2900,2047,1401,2831,2018,2039},
-{3000,2047,1394,2822,2036,2039},
-{3100,2047,1388,2813,2054,2039},
-{3200,2047,1381,2803,2072,2039},
-{3300,2047,1375,2793,2090,2039},
-{3400,2047,1369,2783,2107,2039},
-{3500,2047,1363,2772,2123,2039},
-{3600,2047,1357,2761,2139,2039},
-{3700,2047,1351,2750,2155,2039},
-{3800,2047,1346,2738,2170,2039},
-{3900,2047,1341,2726,2184,2039},
-{4000,2047,1336,2714,2197,2039},
-{4100,2047,1331,2702,2209,2039},
-{4200,2047,1327,2689,2221,2039},
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-{44100,1986,1355,2406,2304,2039},
-{44200,1996,1348,2420,2302,2039},
-{44300,2005,1340,2434,2300,2039},
-{44400,2013,1334,2448,2297,2039},
-{44500,2021,1328,2462,2295,2039},
-{44600,2027,1323,2476,2292,2039},
-{44700,2033,1318,2490,2290,2039},
-{44800,2038,1315,2504,2287,2039},
-{44900,2042,1312,2518,2284,2039},
-{45000,2045,1309,2531,2281,2039},
-{45100,2046,1308,2545,2278,2039},
-{45200,2047,1308,2559,2274,2039},
-{45300,2047,1308,2572,2271,2039},
-{45400,2047,1309,2586,2265,2039},
-{45500,2047,1310,2599,2259,2039},
-{45600,2047,1312,2612,2251,2039},
-{45700,2047,1314,2625,2243,2039},
-{45800,2047,1317,2638,2233,2039},
-{45900,2047,1320,2651,2223,2039},
-{46000,2047,1324,2663,2211,2039},
-{46100,2047,1328,2676,2199,2039},
-{46200,2047,1332,2688,2186,2039},
-{46300,2047,1337,2700,2172,2039},
-{46400,2047,1342,2712,2157,2039},
-{46500,2047,1347,2723,2142,2039},
-{46600,2047,1353,2735,2127,2039},
-{46700,2047,1359,2746,2110,2039},
-{46800,2047,1365,2757,2094,2039},
-{46900,2047,1371,2768,2077,2039},
-{47000,2047,1377,2779,2059,2039},
-{47100,2047,1384,2789,2041,2039},
-{47200,2047,1390,2799,2023,2039},
-{47300,2047,1397,2809,2005,2039},
-{47400,2047,1404,2818,1987,2039},
-{47500,2047,1411,2828,1969,2039},
-{47600,2047,1418,2837,1950,2039},
-{47700,2047,1425,2846,1932,2039},
-{47800,2047,1432,2854,1914,2039},
-{47900,2047,1439,2862,1896,2039},
-{48000,2047,1446,2870,1878,2039},
-{48100,2047,1452,2878,1860,2039},
-{48200,2047,1459,2885,1843,2039},
-{48300,2047,1466,2892,1826,2039},
-{48400,2047,1472,2899,1810,2039},
-{48500,2047,1478,2905,1794,2039},
-{48600,2047,1484,2911,1778,2039},
-{48700,2047,1490,2917,1763,2039},
-{48800,2047,1496,2922,1749,2039},
-{48900,2047,1501,2927,1736,2039},
-{49000,2047,1506,2932,1723,2039},
-{49100,2047,1511,2936,1711,2039},
-{49200,2047,1515,2940,1700,2039},
-{49300,2047,1519,2943,1690,2039},
-{49400,2047,1523,2947,1681,2039},
-{49500,2047,1526,2949,1673,2039},
-{49600,2047,1529,2952,1666,2039},
-{49700,2047,1531,2954,1660,2039},
-{49800,2047,1533,2955,1655,2039},
-{49900,2047,1534,2956,1652,2039},
-{50000,2047,1535,2957,1650,2039},
-{50100,2047,1535,2957,1649,2039}
-};
-
-// The number of key frames.
-const int TOTAL_FRAMES = sizeof(MOTION_DATA) / sizeof(MOTION_DATA[0]);
-
-void setup()
-{
-  int time_between_frame = (MOTION_DATA[2][0] - MOTION_DATA[1][0]) * 2;
-
-  // Open serial port for debugging
-  DEBUG_SERIAL.begin(115200);
-  while(!DEBUG_SERIAL);
-
-  // Port Baudrate to communicate with connected DYNAMIXELs. If not matched, you will meet communication fail.
-  dxl.begin(4000000);
-  
-  delay(100);  // Allow time for DYNAMIXEL to finish boot up
-
-  // Recommended Protocol Version is "2.0" Note that DYNAMIXEL Protocol for each product may differ depending on your model in use.
-  dxl.setPortProtocolVersion(DYNAMIXEL_PROTOCOL_VERSION);
-
-  InitDXL(time_between_frame);  // Initialize the DYNAMIXEL
-  InitSyncRead();
-  InitSyncWrite();
-  delay(2000);
-  InitPose(MOTION_DATA, time_between_frame);  // Pass a pose
-}
-
-void loop()
-{ 
-  // Pass the motion data
-  PlayMotion(MOTION_DATA);
-}
-
-void InitDXL(int frame_time)
-{
-  uint8_t index = 0;
-  dxl.torqueOff(DXL_BROADCAST_ID);
-
-  // Ping DYNAMIXELs. If failed, check your Baudrate and pysical wiring connection.
-  for (index = 0; index < NUMBER_OF_JOINT; index++)
-  {
-    if (!dxl.ping(DYNAMIXEL_ID[index])) {
-      DEBUG_SERIAL.print("[ERROR] Failed to connect DYNAMIXEL ");
-      DEBUG_SERIAL.println(DYNAMIXEL_ID[index]);
-    } else {
-      // Set the Drive Mode as Time-based mode.
-      dxl.writeControlTableItem(DRIVE_MODE, DYNAMIXEL_ID[index], 4);
-      // Lower Return Delay Time enhances the responsiveness.
-      dxl.writeControlTableItem(RETURN_DELAY_TIME, DYNAMIXEL_ID[index], 0);
-      dxl.setOperatingMode(DYNAMIXEL_ID[index], OP_POSITION);
-      // Time-based should be larger than frame time.
-      dxl.writeControlTableItem(PROFILE_VELOCITY, DYNAMIXEL_ID[index], frame_time);
-    }
-  }
-  dxl.torqueOn(DXL_BROADCAST_ID);
-  delay(100);
-}
-
-// Initialize SyncRead packet in the structure
-void InitSyncRead()
-{
-  uint8_t index = 0;
-
-  sync_read_information.packet.p_buf = packet_buffer;
-  sync_read_information.packet.buf_capacity = MAX_PACKET_BUFFER_LENGTH;
-  sync_read_information.packet.is_completed = false;
-  sync_read_information.addr = PRESENT_POSITION_ADDRESS;
-  sync_read_information.addr_length = LENGTH_TO_SYNC_READ;
-  sync_read_information.p_xels = sync_read_dynamixel_info;
-  sync_read_information.xel_count = 0;  
-
-  for (index = 0; index < NUMBER_OF_JOINT ; index++) {
-    sync_read_dynamixel_info[index].id = DYNAMIXEL_ID[index];
-    sync_read_dynamixel_info[index].p_recv_buf = (uint8_t*)&sync_read_data[index];
-    sync_read_information.xel_count++;
-  }
-  sync_read_information.is_info_changed = true;
-
-  ReadPresentPosition();
-}
-
-// Initialize SyncWrite packet frame in the structure
-void InitSyncWrite()
-{
-  uint8_t index = 0;
-  
-  sync_write_information.packet.p_buf = nullptr;
-  sync_write_information.packet.is_completed = false;
-  sync_write_information.addr = GOAL_POSITION_ADDRESS;
-  sync_write_information.addr_length = LENGTH_TO_SYNC_WRITE;
-  sync_write_information.p_xels = sync_write_dynamixel_info;
-  sync_write_information.xel_count = 0;
-
-  for (index = 0; index < NUMBER_OF_JOINT; index++) {
-    sync_write_dynamixel_info[index].id = DYNAMIXEL_ID[index];
-    sync_write_dynamixel_info[index].p_data = (uint8_t*)&sync_write_data[index].goal_position;
-    sync_write_information.xel_count++;
-  }
-}
-
-void InitPose(const int init_pose[][MAX_MOTION_DATA_COLUMN_INDEX], int frame_time)
-{
-  uint8_t index = 0;
-  // Store margin between Goal and Present Position.
-  // This determines the DYNAMIXEL where to rotate in either CW or CCW.
-  int arr_position_margin[NUMBER_OF_JOINT] = {};
-  int arr_dxl_ready_state[NUMBER_OF_JOINT] = {};
-  int init_steps = 1;
-  int dxl_ready_count = 0;
-  int position_tolerance = 5;
-
-  for (index = 0; index < NUMBER_OF_JOINT; index++){
-    if (index == 0) {
-      DEBUG_SERIAL.println("[Present Position] ");
-    }
-
-    arr_position_margin[index] = init_pose[0][index+1] - sync_read_data[index].present_position;
-    DEBUG_SERIAL.print("[Present Position_Setup] ID");
-    DEBUG_SERIAL.print(sync_read_information.p_xels[index].id);
-    DEBUG_SERIAL.print(": ");
-    DEBUG_SERIAL.println(sync_read_data[index].present_position);
-    DEBUG_SERIAL.print("[Goal Position - Present Position] ID");
-    DEBUG_SERIAL.print(sync_read_information.p_xels[index].id);
-    DEBUG_SERIAL.print(": ");
-    DEBUG_SERIAL.println(arr_position_margin[index]);
-  }
-
-  DEBUG_SERIAL.println("");
-
-  while(true) {
-    // Count the number of ready DYNAMIXEL.
-    for (index = 0; index < NUMBER_OF_JOINT; index++) {
-      if (arr_dxl_ready_state[index] == 1) {
-        dxl_ready_count++;
-      } else {
-        dxl_ready_count = 0;
-        break;
-      }
-    }
-
-    if(dxl_ready_count == NUMBER_OF_JOINT) {
-      delay(1000);
-
-      for (index = 0; index < NUMBER_OF_JOINT; index++) {
-        sync_write_data[index].goal_position = init_pose[0][index+1];
-        dxl.ledOff(DYNAMIXEL_ID[index]);
-      }
-
-      sync_write_information.is_info_changed = true;
-      dxl.syncWrite(&sync_write_information);
-      frame_time +=1;
-      DEBUG_SERIAL.println("=== [Play Motion] ===");
-      break;
-    }
-
-    if ( ElapsedTime() >= (unsigned long)(frame_time - 10)) {
-      for (index=0; index < NUMBER_OF_JOINT; index++) {
-        if (index == 0) {
-          DEBUG_SERIAL.println("[Moving to the init pose...]");
-        }
-
-        // If result in Goal Position - Present Position is positive number, movement direction is in CCW.
-        if (arr_position_margin[index] >= position_tolerance) {
-          DEBUG_SERIAL.print("DIR :CCW, ");
-          DEBUG_SERIAL.print("ID: ");
-          DEBUG_SERIAL.print(sync_read_information.p_xels[index].id);
-          //set position every 20 ms
-          arr_position_margin[index] = arr_position_margin[index] - init_steps ;
-          DEBUG_SERIAL.print("\t Target Pose: ");
-          DEBUG_SERIAL.print(init_pose[0][index+1]);
-          DEBUG_SERIAL.print("\t Present Pose: ");
-          DEBUG_SERIAL.println(init_pose[0][index+1] - arr_position_margin[index]);
-        } else if (arr_position_margin[index] <= -position_tolerance ) {
-          // If result in Goal Position - Present Position is negative number, movement direction is in CW.
-          DEBUG_SERIAL.print("DIR : CW, ");
-          DEBUG_SERIAL.print("ID: ");
-          DEBUG_SERIAL.print(sync_read_information.p_xels[index].id);
-          arr_position_margin[index] = arr_position_margin[index] + init_steps ; 
-          DEBUG_SERIAL.print("\t Target Pose: ");
-          DEBUG_SERIAL.print(init_pose[0][index+1]);
-          DEBUG_SERIAL.print("\t Present Pose: ");
-          DEBUG_SERIAL.println(init_pose[0][index+1] - arr_position_margin[index]);
-        } else {
-          arr_dxl_ready_state[index] = 1; 
-          dxl.ledOn(DYNAMIXEL_ID[index]);
-          DEBUG_SERIAL.print("ID: ");
-          DEBUG_SERIAL.print(sync_read_information.p_xels[index].id);
-          DEBUG_SERIAL.println(" is ready to go.");
-        }
-
-        sync_write_data[index].goal_position = init_pose[0][index+1] - arr_position_margin[index];
-      }
-    }
-
-    if ( ElapsedTime() >= (unsigned long)(frame_time)) {
-      sync_write_information.is_info_changed = true;
-      dxl.syncWrite(&sync_write_information);
-      DEBUG_SERIAL.println(" SyncWrite.");
-      saved_time = current_time;
-    }
-  }
-}
-
-void PlayMotion(const int MOTION_DATA[][MAX_MOTION_DATA_COLUMN_INDEX])
-{
-  // Time difference between the saved_time and current time.
-  if ( ElapsedTime() >= (unsigned long)(MOTION_DATA[frame_time + 1][0] - MOTION_DATA[frame_time][0]) ) {
-    // DisplayTime();
-    // ReadPresentPosition();
-
-    uint8_t index = 0;
-
-    DEBUG_SERIAL.print("[Goal Position] : ");
-    for (index = 0; index < NUMBER_OF_JOINT; index++) {
-      sync_write_data[index].goal_position = MOTION_DATA[frame_time + 1][index + 1];
-      DEBUG_SERIAL.print(sync_write_data[index].goal_position);
-      DEBUG_SERIAL.print("\t");
-    }
-    DEBUG_SERIAL.println("");
-
-    sync_write_information.is_info_changed = true;
-    
-    if(!dxl.syncWrite(&sync_write_information)) {
-      DEBUG_SERIAL.println("[ERROR] Failed to Sync Write.");
-    }
-
-    saved_time = current_time;
-    frame_time += 1;
-
-    // When reached at the end of the motion frame array
-    if (frame_time >= TOTAL_FRAMES -1 ) {
-      DEBUG_SERIAL.println("=== [Motion Play Completed] ===");
-      DEBUG_SERIAL.print("Total Played Frames = ");
-      DEBUG_SERIAL.println(frame_time + 1);
-      frame_time = 1;
-      loop_counts--;
-    }
-  }
-}
-
-void DisplayTime()
-{
-  // Display current time, saved_time time, and elapsed time in two trajectory points. If not needed, comment out. 
-  DEBUG_SERIAL.println("=== [Print Time (ms)] ===");
-  DEBUG_SERIAL.print("Current: ");
-  DEBUG_SERIAL.print(current_time);
-  DEBUG_SERIAL.print("\t Saved: ");
-  DEBUG_SERIAL.print(saved_time);
-  DEBUG_SERIAL.print("\t Elapsed:");
-  DEBUG_SERIAL.print(current_time - saved_time);
-  DEBUG_SERIAL.print("\t Motion Frame:");
-  DEBUG_SERIAL.println(MOTION_DATA[frame_time+1][0]);
-}
-
-void ReadPresentPosition()
-{
-  uint8_t index = 0;
-
-  if(dxl.syncRead(&sync_read_information) > 0) {
-    DEBUG_SERIAL.print("[Present Position] : ");
-    for (index = 0; index < NUMBER_OF_JOINT; index++) {
-      DEBUG_SERIAL.print(sync_read_data[index].present_position);
-      DEBUG_SERIAL.print("\t");
-    }
-    DEBUG_SERIAL.println("");
-  } else {
-    DEBUG_SERIAL.println("[ERROR] Sync Read Failed");
-  }
-}
-
-unsigned long ElapsedTime()
-{
-  current_time = millis();
-  return (current_time - saved_time);
+// Copyright 2021 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Example Environment
+//
+// - DYNAMIXEL: X series (except XL-320)
+//              ID = 11, 12, 13, 14, 15, Baudrate = 4000000bps, Protocol 2.0
+// - Controller: OpenCR 1.0
+// - Library: DYNAMIXEL2Arduino
+// - Software: Blender 2.93.1
+//             Arduino IDE
+//
+// Author: David Park
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+// This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+// DYNAMIXEL Configuration
+const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
+// OpenMANIPULATOR has ID of 11 ~ 15 by default
+const uint8_t DYNAMIXEL_ID[] = {1, 2, 3, 4, 5};
+const uint8_t NUMBER_OF_JOINT = sizeof(DYNAMIXEL_ID)/sizeof(uint8_t);
+
+
+// Data struct for SyncRead
+typedef struct sync_read_data {
+  int32_t present_position;
+} __attribute__((packed)) sync_read_data_t;
+
+// Sync Read Present Position
+const uint16_t PRESENT_POSITION_ADDRESS = 132;
+const uint16_t LENGTH_TO_SYNC_READ = 4;
+
+// Sync Read
+sync_read_data_t sync_read_data[NUMBER_OF_JOINT];
+DYNAMIXEL::InfoSyncReadInst_t sync_read_information;
+DYNAMIXEL::XELInfoSyncRead_t sync_read_dynamixel_info[NUMBER_OF_JOINT];
+
+
+// Data struct for SyncWrite
+typedef struct sync_write_data {
+  int32_t goal_position;
+} __attribute__((packed)) sync_write_data_t;
+
+// Sync Write Goal Position
+const uint16_t GOAL_POSITION_ADDRESS = 116; 
+const uint16_t LENGTH_TO_SYNC_WRITE = 4;
+
+// Sync Write
+sync_write_data_t sync_write_data[NUMBER_OF_JOINT];
+DYNAMIXEL::InfoSyncWriteInst_t sync_write_information;
+DYNAMIXEL::XELInfoSyncWrite_t sync_write_dynamixel_info[NUMBER_OF_JOINT];
+
+
+const uint16_t MAX_PACKET_BUFFER_LENGTH = 128;
+uint8_t packet_buffer[MAX_PACKET_BUFFER_LENGTH];
+
+int loop_counts = 2;  // Number of times to play the motion
+int frame_time = 0;
+unsigned long current_time = 0;
+unsigned long saved_time = 0;
+
+// The number of information in each frame. (Time + Position of each Joint)
+const int MAX_MOTION_DATA_COLUMN_INDEX = 1 + NUMBER_OF_JOINT;
+
+// Paste all keyframes.
+const int MOTION_DATA [][MAX_MOTION_DATA_COLUMN_INDEX]{
+//Time[ms],ID1,ID2,ID3,ID4,Hand,
+{100,2047,1535,2957,1649,2039},
+{200,2047,1535,2957,1650,2039},
+{300,2047,1534,2956,1652,2039},
+{400,2047,1533,2956,1655,2039},
+{500,2047,1531,2954,1660,2039},
+{600,2047,1529,2953,1666,2039},
+{700,2047,1526,2951,1674,2039},
+{800,2047,1523,2949,1682,2039},
+{900,2047,1520,2947,1692,2039},
+{1000,2047,1516,2944,1702,2039},
+{1100,2047,1511,2941,1714,2039},
+{1200,2047,1507,2938,1726,2039},
+{1300,2047,1502,2934,1740,2039},
+{1400,2047,1497,2930,1754,2039},
+{1500,2047,1492,2926,1769,2039},
+{1600,2047,1486,2921,1784,2039},
+{1700,2047,1480,2916,1800,2039},
+{1800,2047,1474,2911,1817,2039},
+{1900,2047,1468,2905,1834,2039},
+{2000,2047,1462,2899,1851,2039},
+{2100,2047,1455,2893,1869,2039},
+{2200,2047,1448,2886,1887,2039},
+{2300,2047,1442,2879,1906,2039},
+{2400,2047,1435,2872,1924,2039},
+{2500,2047,1428,2865,1943,2039},
+{2600,2047,1421,2857,1962,2039},
+{2700,2047,1415,2849,1980,2039},
+{2800,2047,1408,2840,1999,2039},
+{2900,2047,1401,2831,2018,2039},
+{3000,2047,1394,2822,2036,2039},
+{3100,2047,1388,2813,2054,2039},
+{3200,2047,1381,2803,2072,2039},
+{3300,2047,1375,2793,2090,2039},
+{3400,2047,1369,2783,2107,2039},
+{3500,2047,1363,2772,2123,2039},
+{3600,2047,1357,2761,2139,2039},
+{3700,2047,1351,2750,2155,2039},
+{3800,2047,1346,2738,2170,2039},
+{3900,2047,1341,2726,2184,2039},
+{4000,2047,1336,2714,2197,2039},
+{4100,2047,1331,2702,2209,2039},
+{4200,2047,1327,2689,2221,2039},
+{4300,2047,1323,2676,2232,2039},
+{4400,2047,1320,2662,2241,2039},
+{4500,2047,1317,2648,2250,2039},
+{4600,2047,1314,2634,2257,2039},
+{4700,2047,1312,2620,2263,2039},
+{4800,2047,1310,2605,2268,2039},
+{4900,2047,1309,2590,2272,2039},
+{5000,2047,1308,2575,2274,2039},
+{5100,2047,1308,2559,2274,2039},
+{5200,2048,1308,2543,2274,2039},
+{5300,2049,1308,2527,2274,2039},
+{5400,2052,1308,2510,2274,2039},
+{5500,2056,1308,2493,2274,2039},
+{5600,2061,1308,2476,2274,2039},
+{5700,2067,1308,2459,2274,2039},
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+{5900,2082,1308,2424,2274,2039},
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+{44100,1986,1355,2406,2304,2039},
+{44200,1996,1348,2420,2302,2039},
+{44300,2005,1340,2434,2300,2039},
+{44400,2013,1334,2448,2297,2039},
+{44500,2021,1328,2462,2295,2039},
+{44600,2027,1323,2476,2292,2039},
+{44700,2033,1318,2490,2290,2039},
+{44800,2038,1315,2504,2287,2039},
+{44900,2042,1312,2518,2284,2039},
+{45000,2045,1309,2531,2281,2039},
+{45100,2046,1308,2545,2278,2039},
+{45200,2047,1308,2559,2274,2039},
+{45300,2047,1308,2572,2271,2039},
+{45400,2047,1309,2586,2265,2039},
+{45500,2047,1310,2599,2259,2039},
+{45600,2047,1312,2612,2251,2039},
+{45700,2047,1314,2625,2243,2039},
+{45800,2047,1317,2638,2233,2039},
+{45900,2047,1320,2651,2223,2039},
+{46000,2047,1324,2663,2211,2039},
+{46100,2047,1328,2676,2199,2039},
+{46200,2047,1332,2688,2186,2039},
+{46300,2047,1337,2700,2172,2039},
+{46400,2047,1342,2712,2157,2039},
+{46500,2047,1347,2723,2142,2039},
+{46600,2047,1353,2735,2127,2039},
+{46700,2047,1359,2746,2110,2039},
+{46800,2047,1365,2757,2094,2039},
+{46900,2047,1371,2768,2077,2039},
+{47000,2047,1377,2779,2059,2039},
+{47100,2047,1384,2789,2041,2039},
+{47200,2047,1390,2799,2023,2039},
+{47300,2047,1397,2809,2005,2039},
+{47400,2047,1404,2818,1987,2039},
+{47500,2047,1411,2828,1969,2039},
+{47600,2047,1418,2837,1950,2039},
+{47700,2047,1425,2846,1932,2039},
+{47800,2047,1432,2854,1914,2039},
+{47900,2047,1439,2862,1896,2039},
+{48000,2047,1446,2870,1878,2039},
+{48100,2047,1452,2878,1860,2039},
+{48200,2047,1459,2885,1843,2039},
+{48300,2047,1466,2892,1826,2039},
+{48400,2047,1472,2899,1810,2039},
+{48500,2047,1478,2905,1794,2039},
+{48600,2047,1484,2911,1778,2039},
+{48700,2047,1490,2917,1763,2039},
+{48800,2047,1496,2922,1749,2039},
+{48900,2047,1501,2927,1736,2039},
+{49000,2047,1506,2932,1723,2039},
+{49100,2047,1511,2936,1711,2039},
+{49200,2047,1515,2940,1700,2039},
+{49300,2047,1519,2943,1690,2039},
+{49400,2047,1523,2947,1681,2039},
+{49500,2047,1526,2949,1673,2039},
+{49600,2047,1529,2952,1666,2039},
+{49700,2047,1531,2954,1660,2039},
+{49800,2047,1533,2955,1655,2039},
+{49900,2047,1534,2956,1652,2039},
+{50000,2047,1535,2957,1650,2039},
+{50100,2047,1535,2957,1649,2039}
+};
+
+// The number of key frames.
+const int TOTAL_FRAMES = sizeof(MOTION_DATA) / sizeof(MOTION_DATA[0]);
+
+void setup()
+{
+  int time_between_frame = (MOTION_DATA[2][0] - MOTION_DATA[1][0]) * 2;
+
+  // Open serial port for debugging
+  DEBUG_SERIAL.begin(115200);
+  while(!DEBUG_SERIAL);
+
+  // Port Baudrate to communicate with connected DYNAMIXELs. If not matched, you will meet communication fail.
+  dxl.begin(4000000);
+  
+  delay(100);  // Allow time for DYNAMIXEL to finish boot up
+
+  // Recommended Protocol Version is "2.0" Note that DYNAMIXEL Protocol for each product may differ depending on your model in use.
+  dxl.setPortProtocolVersion(DYNAMIXEL_PROTOCOL_VERSION);
+
+  InitDXL(time_between_frame);  // Initialize the DYNAMIXEL
+  InitSyncRead();
+  InitSyncWrite();
+  delay(2000);
+  InitPose(MOTION_DATA, time_between_frame);  // Pass a pose
+}
+
+void loop()
+{ 
+  // Pass the motion data
+  PlayMotion(MOTION_DATA);
+}
+
+void InitDXL(int frame_time)
+{
+  uint8_t index = 0;
+  dxl.torqueOff(DXL_BROADCAST_ID);
+
+  // Ping DYNAMIXELs. If failed, check your Baudrate and pysical wiring connection.
+  for (index = 0; index < NUMBER_OF_JOINT; index++)
+  {
+    if (!dxl.ping(DYNAMIXEL_ID[index])) {
+      DEBUG_SERIAL.print("[ERROR] Failed to connect DYNAMIXEL ");
+      DEBUG_SERIAL.println(DYNAMIXEL_ID[index]);
+    } else {
+      // Set the Drive Mode as Time-based mode.
+      dxl.writeControlTableItem(DRIVE_MODE, DYNAMIXEL_ID[index], 4);
+      // Lower Return Delay Time enhances the responsiveness.
+      dxl.writeControlTableItem(RETURN_DELAY_TIME, DYNAMIXEL_ID[index], 0);
+      dxl.setOperatingMode(DYNAMIXEL_ID[index], OP_POSITION);
+      // Time-based should be larger than frame time.
+      dxl.writeControlTableItem(PROFILE_VELOCITY, DYNAMIXEL_ID[index], frame_time);
+    }
+  }
+  dxl.torqueOn(DXL_BROADCAST_ID);
+  delay(100);
+}
+
+// Initialize SyncRead packet in the structure
+void InitSyncRead()
+{
+  uint8_t index = 0;
+
+  sync_read_information.packet.p_buf = packet_buffer;
+  sync_read_information.packet.buf_capacity = MAX_PACKET_BUFFER_LENGTH;
+  sync_read_information.packet.is_completed = false;
+  sync_read_information.addr = PRESENT_POSITION_ADDRESS;
+  sync_read_information.addr_length = LENGTH_TO_SYNC_READ;
+  sync_read_information.p_xels = sync_read_dynamixel_info;
+  sync_read_information.xel_count = 0;  
+
+  for (index = 0; index < NUMBER_OF_JOINT ; index++) {
+    sync_read_dynamixel_info[index].id = DYNAMIXEL_ID[index];
+    sync_read_dynamixel_info[index].p_recv_buf = (uint8_t*)&sync_read_data[index];
+    sync_read_information.xel_count++;
+  }
+  sync_read_information.is_info_changed = true;
+
+  ReadPresentPosition();
+}
+
+// Initialize SyncWrite packet frame in the structure
+void InitSyncWrite()
+{
+  uint8_t index = 0;
+  
+  sync_write_information.packet.p_buf = nullptr;
+  sync_write_information.packet.is_completed = false;
+  sync_write_information.addr = GOAL_POSITION_ADDRESS;
+  sync_write_information.addr_length = LENGTH_TO_SYNC_WRITE;
+  sync_write_information.p_xels = sync_write_dynamixel_info;
+  sync_write_information.xel_count = 0;
+
+  for (index = 0; index < NUMBER_OF_JOINT; index++) {
+    sync_write_dynamixel_info[index].id = DYNAMIXEL_ID[index];
+    sync_write_dynamixel_info[index].p_data = (uint8_t*)&sync_write_data[index].goal_position;
+    sync_write_information.xel_count++;
+  }
+}
+
+void InitPose(const int init_pose[][MAX_MOTION_DATA_COLUMN_INDEX], int frame_time)
+{
+  uint8_t index = 0;
+  // Store margin between Goal and Present Position.
+  // This determines the DYNAMIXEL where to rotate in either CW or CCW.
+  int arr_position_margin[NUMBER_OF_JOINT] = {};
+  int arr_dxl_ready_state[NUMBER_OF_JOINT] = {};
+  int init_steps = 1;
+  int dxl_ready_count = 0;
+  int position_tolerance = 5;
+
+  for (index = 0; index < NUMBER_OF_JOINT; index++){
+    if (index == 0) {
+      DEBUG_SERIAL.println("[Present Position] ");
+    }
+
+    arr_position_margin[index] = init_pose[0][index+1] - sync_read_data[index].present_position;
+    DEBUG_SERIAL.print("[Present Position_Setup] ID");
+    DEBUG_SERIAL.print(sync_read_information.p_xels[index].id);
+    DEBUG_SERIAL.print(": ");
+    DEBUG_SERIAL.println(sync_read_data[index].present_position);
+    DEBUG_SERIAL.print("[Goal Position - Present Position] ID");
+    DEBUG_SERIAL.print(sync_read_information.p_xels[index].id);
+    DEBUG_SERIAL.print(": ");
+    DEBUG_SERIAL.println(arr_position_margin[index]);
+  }
+
+  DEBUG_SERIAL.println("");
+
+  while(true) {
+    // Count the number of ready DYNAMIXEL.
+    for (index = 0; index < NUMBER_OF_JOINT; index++) {
+      if (arr_dxl_ready_state[index] == 1) {
+        dxl_ready_count++;
+      } else {
+        dxl_ready_count = 0;
+        break;
+      }
+    }
+
+    if(dxl_ready_count == NUMBER_OF_JOINT) {
+      delay(1000);
+
+      for (index = 0; index < NUMBER_OF_JOINT; index++) {
+        sync_write_data[index].goal_position = init_pose[0][index+1];
+        dxl.ledOff(DYNAMIXEL_ID[index]);
+      }
+
+      sync_write_information.is_info_changed = true;
+      dxl.syncWrite(&sync_write_information);
+      frame_time +=1;
+      DEBUG_SERIAL.println("=== [Play Motion] ===");
+      break;
+    }
+
+    if ( ElapsedTime() >= (unsigned long)(frame_time - 10)) {
+      for (index=0; index < NUMBER_OF_JOINT; index++) {
+        if (index == 0) {
+          DEBUG_SERIAL.println("[Moving to the init pose...]");
+        }
+
+        // If result in Goal Position - Present Position is positive number, movement direction is in CCW.
+        if (arr_position_margin[index] >= position_tolerance) {
+          DEBUG_SERIAL.print("DIR :CCW, ");
+          DEBUG_SERIAL.print("ID: ");
+          DEBUG_SERIAL.print(sync_read_information.p_xels[index].id);
+          //set position every 20 ms
+          arr_position_margin[index] = arr_position_margin[index] - init_steps ;
+          DEBUG_SERIAL.print("\t Target Pose: ");
+          DEBUG_SERIAL.print(init_pose[0][index+1]);
+          DEBUG_SERIAL.print("\t Present Pose: ");
+          DEBUG_SERIAL.println(init_pose[0][index+1] - arr_position_margin[index]);
+        } else if (arr_position_margin[index] <= -position_tolerance ) {
+          // If result in Goal Position - Present Position is negative number, movement direction is in CW.
+          DEBUG_SERIAL.print("DIR : CW, ");
+          DEBUG_SERIAL.print("ID: ");
+          DEBUG_SERIAL.print(sync_read_information.p_xels[index].id);
+          arr_position_margin[index] = arr_position_margin[index] + init_steps ; 
+          DEBUG_SERIAL.print("\t Target Pose: ");
+          DEBUG_SERIAL.print(init_pose[0][index+1]);
+          DEBUG_SERIAL.print("\t Present Pose: ");
+          DEBUG_SERIAL.println(init_pose[0][index+1] - arr_position_margin[index]);
+        } else {
+          arr_dxl_ready_state[index] = 1; 
+          dxl.ledOn(DYNAMIXEL_ID[index]);
+          DEBUG_SERIAL.print("ID: ");
+          DEBUG_SERIAL.print(sync_read_information.p_xels[index].id);
+          DEBUG_SERIAL.println(" is ready to go.");
+        }
+
+        sync_write_data[index].goal_position = init_pose[0][index+1] - arr_position_margin[index];
+      }
+    }
+
+    if ( ElapsedTime() >= (unsigned long)(frame_time)) {
+      sync_write_information.is_info_changed = true;
+      dxl.syncWrite(&sync_write_information);
+      DEBUG_SERIAL.println(" SyncWrite.");
+      saved_time = current_time;
+    }
+  }
+}
+
+void PlayMotion(const int MOTION_DATA[][MAX_MOTION_DATA_COLUMN_INDEX])
+{
+  // Time difference between the saved_time and current time.
+  if ( ElapsedTime() >= (unsigned long)(MOTION_DATA[frame_time + 1][0] - MOTION_DATA[frame_time][0]) ) {
+    // DisplayTime();
+    // ReadPresentPosition();
+
+    uint8_t index = 0;
+
+    DEBUG_SERIAL.print("[Goal Position] : ");
+    for (index = 0; index < NUMBER_OF_JOINT; index++) {
+      sync_write_data[index].goal_position = MOTION_DATA[frame_time + 1][index + 1];
+      DEBUG_SERIAL.print(sync_write_data[index].goal_position);
+      DEBUG_SERIAL.print("\t");
+    }
+    DEBUG_SERIAL.println("");
+
+    sync_write_information.is_info_changed = true;
+    
+    if(!dxl.syncWrite(&sync_write_information)) {
+      DEBUG_SERIAL.println("[ERROR] Failed to Sync Write.");
+    }
+
+    saved_time = current_time;
+    frame_time += 1;
+
+    // When reached at the end of the motion frame array
+    if (frame_time >= TOTAL_FRAMES -1 ) {
+      DEBUG_SERIAL.println("=== [Motion Play Completed] ===");
+      DEBUG_SERIAL.print("Total Played Frames = ");
+      DEBUG_SERIAL.println(frame_time + 1);
+      frame_time = 1;
+      loop_counts--;
+    }
+  }
+}
+
+void DisplayTime()
+{
+  // Display current time, saved_time time, and elapsed time in two trajectory points. If not needed, comment out. 
+  DEBUG_SERIAL.println("=== [Print Time (ms)] ===");
+  DEBUG_SERIAL.print("Current: ");
+  DEBUG_SERIAL.print(current_time);
+  DEBUG_SERIAL.print("\t Saved: ");
+  DEBUG_SERIAL.print(saved_time);
+  DEBUG_SERIAL.print("\t Elapsed:");
+  DEBUG_SERIAL.print(current_time - saved_time);
+  DEBUG_SERIAL.print("\t Motion Frame:");
+  DEBUG_SERIAL.println(MOTION_DATA[frame_time+1][0]);
+}
+
+void ReadPresentPosition()
+{
+  uint8_t index = 0;
+
+  if(dxl.syncRead(&sync_read_information) > 0) {
+    DEBUG_SERIAL.print("[Present Position] : ");
+    for (index = 0; index < NUMBER_OF_JOINT; index++) {
+      DEBUG_SERIAL.print(sync_read_data[index].present_position);
+      DEBUG_SERIAL.print("\t");
+    }
+    DEBUG_SERIAL.println("");
+  } else {
+    DEBUG_SERIAL.println("[ERROR] Sync Read Failed");
+  }
+}
+
+unsigned long ElapsedTime()
+{
+  current_time = millis();
+  return (current_time - saved_time);
 }
\ No newline at end of file
diff --git a/examples/dynamixel_protocol/factory_reset/factory_reset.ino b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
index 01a0dd0..c5e5fa3 100644
--- a/examples/dynamixel_protocol/factory_reset/factory_reset.ino
+++ b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
@@ -1,133 +1,133 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
-
-#define TIMEOUT 10    //default communication timeout 10ms
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-bool ret = false;
-uint8_t option = 0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
-  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-  ret = false;
-
-  // DYNAMIXEL protocol version 2.0 instruction
-  if(DXL_PROTOCOL_VERSION == 2.0) {
-    DEBUG_SERIAL.println("Select Reset Option:");
-    DEBUG_SERIAL.println("[1] Reset all value");
-    DEBUG_SERIAL.println("[2] Reset all value except ID");
-    DEBUG_SERIAL.println("[3] Reset all value except ID and Baudrate");
-
-    DEBUG_SERIAL.read();
-    while(DEBUG_SERIAL.available()==0);
-    option = DEBUG_SERIAL.read();
-
-    switch(option) {
-      case '1': // reset all value
-        // if DXL_ID is Broadcast ID, this instruction will not work
-        ret = dxl.factoryReset(DXL_ID, 0xFF, TIMEOUT);
-        break;
-      case '2': // reset all value except ID
-        ret = dxl.factoryReset(DXL_ID, 0x01, TIMEOUT);
-        break;
-      case '3': // reset all value except ID and Baudrate
-        ret = dxl.factoryReset(DXL_ID, 0x02, TIMEOUT);
-        break;
-      default:
-        break;
-    }
-  }
-  //DYNAMIXEL protocol version 1.0 instruction
-  else {
-    // if DXL_ID is Broadcast ID, this instruction will not work
-    DEBUG_SERIAL.println();
-    DEBUG_SERIAL.println("Proceed Factory Reset? [y/n]");
-
-    DEBUG_SERIAL.read();
-    while(DEBUG_SERIAL.available()==0);
-    option = DEBUG_SERIAL.read();
-
-    switch(option) {
-      case 'y':
-      case 'Y':
-        ret = dxl.factoryReset(DXL_ID, 0xFF, TIMEOUT);
-        break;
-      default:
-        break;
-    }
-  }
-
-  if(ret) {
-    DEBUG_SERIAL.println("factory reset succeeded!");
-  } else {
-    DEBUG_SERIAL.println("factory reset failed!");
-  }
-
-  delay(1000);
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+#define TIMEOUT 10    //default communication timeout 10ms
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+bool ret = false;
+uint8_t option = 0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
+  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  ret = false;
+
+  // DYNAMIXEL protocol version 2.0 instruction
+  if(DXL_PROTOCOL_VERSION == 2.0) {
+    DEBUG_SERIAL.println("Select Reset Option:");
+    DEBUG_SERIAL.println("[1] Reset all value");
+    DEBUG_SERIAL.println("[2] Reset all value except ID");
+    DEBUG_SERIAL.println("[3] Reset all value except ID and Baudrate");
+
+    DEBUG_SERIAL.read();
+    while(DEBUG_SERIAL.available()==0);
+    option = DEBUG_SERIAL.read();
+
+    switch(option) {
+      case '1': // reset all value
+        // if DXL_ID is Broadcast ID, this instruction will not work
+        ret = dxl.factoryReset(DXL_ID, 0xFF, TIMEOUT);
+        break;
+      case '2': // reset all value except ID
+        ret = dxl.factoryReset(DXL_ID, 0x01, TIMEOUT);
+        break;
+      case '3': // reset all value except ID and Baudrate
+        ret = dxl.factoryReset(DXL_ID, 0x02, TIMEOUT);
+        break;
+      default:
+        break;
+    }
+  }
+  //DYNAMIXEL protocol version 1.0 instruction
+  else {
+    // if DXL_ID is Broadcast ID, this instruction will not work
+    DEBUG_SERIAL.println();
+    DEBUG_SERIAL.println("Proceed Factory Reset? [y/n]");
+
+    DEBUG_SERIAL.read();
+    while(DEBUG_SERIAL.available()==0);
+    option = DEBUG_SERIAL.read();
+
+    switch(option) {
+      case 'y':
+      case 'Y':
+        ret = dxl.factoryReset(DXL_ID, 0xFF, TIMEOUT);
+        break;
+      default:
+        break;
+    }
+  }
+
+  if(ret) {
+    DEBUG_SERIAL.println("factory reset succeeded!");
+  } else {
+    DEBUG_SERIAL.println("factory reset failed!");
+  }
+
+  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 cac2841..a111627 100644
--- a/examples/dynamixel_protocol/ping/ping.ino
+++ b/examples/dynamixel_protocol/ping/ping.ino
@@ -1,106 +1,106 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
-
-#define TIMEOUT 10    //default communication timeout 10ms
-#define BROADCAST_ID  254
-#define MODEL_NUMBER_ADDR  0
-#define MODEL_NUMBER_LENGTH  2
-
-DYNAMIXEL::InfoFromPing_t recv_info[32];  //Set the maximum DYNAMIXEL in the network to 32
-
-uint16_t model_num = 0;
-uint8_t ret = 0;
-uint8_t recv_count = 0;
-
-const uint8_t DXL_ID = BROADCAST_ID;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
-  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-
-  DEBUG_SERIAL.print("Ping for PROTOCOL ");
-  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
-  DEBUG_SERIAL.print(", ID ");
-  DEBUG_SERIAL.println(DXL_ID);
-
-  ret = dxl.ping(DXL_ID, recv_info, sizeof(recv_info), sizeof(recv_info)*3);
-
-  if(ret > 0) {
-    while (recv_count < ret) {
-      DEBUG_SERIAL.print("DYNAMIXEL Detected!");
-      dxl.read(recv_info[recv_count].id, MODEL_NUMBER_ADDR, MODEL_NUMBER_LENGTH, (uint8_t*)&model_num, sizeof(model_num), TIMEOUT);
-      DEBUG_SERIAL.print(", ID: ");
-      DEBUG_SERIAL.print(recv_info[recv_count].id);
-      DEBUG_SERIAL.print(" Model Number: ");
-      DEBUG_SERIAL.println(model_num);
-      recv_count++;
-    }
-  } else {
-    DEBUG_SERIAL.println("ping failed!");
-  }
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+#define TIMEOUT 10    //default communication timeout 10ms
+#define BROADCAST_ID  254
+#define MODEL_NUMBER_ADDR  0
+#define MODEL_NUMBER_LENGTH  2
+
+DYNAMIXEL::InfoFromPing_t recv_info[32];  //Set the maximum DYNAMIXEL in the network to 32
+
+uint16_t model_num = 0;
+uint8_t ret = 0;
+uint8_t recv_count = 0;
+
+const uint8_t DXL_ID = BROADCAST_ID;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
+  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+
+  DEBUG_SERIAL.print("Ping for PROTOCOL ");
+  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
+  DEBUG_SERIAL.print(", ID ");
+  DEBUG_SERIAL.println(DXL_ID);
+
+  ret = dxl.ping(DXL_ID, recv_info, sizeof(recv_info), sizeof(recv_info)*3);
+
+  if(ret > 0) {
+    while (recv_count < ret) {
+      DEBUG_SERIAL.print("DYNAMIXEL Detected!");
+      dxl.read(recv_info[recv_count].id, MODEL_NUMBER_ADDR, MODEL_NUMBER_LENGTH, (uint8_t*)&model_num, sizeof(model_num), TIMEOUT);
+      DEBUG_SERIAL.print(", ID: ");
+      DEBUG_SERIAL.print(recv_info[recv_count].id);
+      DEBUG_SERIAL.print(" Model Number: ");
+      DEBUG_SERIAL.println(model_num);
+      recv_count++;
+    }
+  } else {
+    DEBUG_SERIAL.println("ping failed!");
+  }
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
 }
\ No newline at end of file
diff --git a/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino b/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
index 314e8a5..4059e35 100644
--- a/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
+++ b/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
@@ -1,111 +1,111 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
-
-//Please see eManual Control Table section of your DYNAMIXEL.
-//This example is written for DYNAMIXEL AX & MX series with Protocol 1.0.
-//For MX 2.0 with Protocol 2.0, refer to write_x.ino example.
-#define ID_ADDR                   3
-#define ID_ADDR_LEN               1
-#define BAUDRATE_ADDR             4
-#define BAUDRATE_ADDR_LEN         1
-#define PRESENT_POSITION_ADDR     36
-#define PRESENT_POSITION_ADDR_LEN  2
-#define TIMEOUT 10    //default communication timeout 10ms
-
-uint8_t returned_id = 0;
-uint8_t returned_baudrate = 0;
-uint16_t present_position = 0;
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 1.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // For Uno, Nano, Mini, and Mega, use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
-  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-
-  DEBUG_SERIAL.println("Refer to eManual for more details.");
-  DEBUG_SERIAL.println("https://emanual.robotis.com/docs/en/dxl/");
-  DEBUG_SERIAL.print("Read for PROTOCOL ");
-  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
-  DEBUG_SERIAL.print(", ID ");
-  DEBUG_SERIAL.println(DXL_ID);
-  
-  // Read DYNAMIXEL ID
-  dxl.read(DXL_ID, ID_ADDR, ID_ADDR_LEN, (uint8_t*)&returned_id, sizeof(returned_id), TIMEOUT);
-  DEBUG_SERIAL.print("ID : ");
-  DEBUG_SERIAL.println(returned_id);
-  delay(100);
-  // Read DYNAMIXEL Baudrate
-  dxl.read(DXL_ID, BAUDRATE_ADDR, BAUDRATE_ADDR_LEN, (uint8_t*)&returned_baudrate, sizeof(returned_baudrate), TIMEOUT);
-  DEBUG_SERIAL.print("Baud Rate : ");
-  DEBUG_SERIAL.println(returned_baudrate);
-  delay(100);
-  // Read DYNAMIXEL Present Position
-  dxl.read(DXL_ID, PRESENT_POSITION_ADDR, PRESENT_POSITION_ADDR_LEN, (uint8_t*)&present_position, sizeof(present_position), TIMEOUT);
-  DEBUG_SERIAL.print("Present Position : ");
-  DEBUG_SERIAL.println(present_position);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+//Please see eManual Control Table section of your DYNAMIXEL.
+//This example is written for DYNAMIXEL AX & MX series with Protocol 1.0.
+//For MX 2.0 with Protocol 2.0, refer to write_x.ino example.
+#define ID_ADDR                   3
+#define ID_ADDR_LEN               1
+#define BAUDRATE_ADDR             4
+#define BAUDRATE_ADDR_LEN         1
+#define PRESENT_POSITION_ADDR     36
+#define PRESENT_POSITION_ADDR_LEN  2
+#define TIMEOUT 10    //default communication timeout 10ms
+
+uint8_t returned_id = 0;
+uint8_t returned_baudrate = 0;
+uint16_t present_position = 0;
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 1.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // For Uno, Nano, Mini, and Mega, use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
+  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+
+  DEBUG_SERIAL.println("Refer to eManual for more details.");
+  DEBUG_SERIAL.println("https://emanual.robotis.com/docs/en/dxl/");
+  DEBUG_SERIAL.print("Read for PROTOCOL ");
+  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
+  DEBUG_SERIAL.print(", ID ");
+  DEBUG_SERIAL.println(DXL_ID);
+  
+  // Read DYNAMIXEL ID
+  dxl.read(DXL_ID, ID_ADDR, ID_ADDR_LEN, (uint8_t*)&returned_id, sizeof(returned_id), TIMEOUT);
+  DEBUG_SERIAL.print("ID : ");
+  DEBUG_SERIAL.println(returned_id);
+  delay(100);
+  // Read DYNAMIXEL Baudrate
+  dxl.read(DXL_ID, BAUDRATE_ADDR, BAUDRATE_ADDR_LEN, (uint8_t*)&returned_baudrate, sizeof(returned_baudrate), TIMEOUT);
+  DEBUG_SERIAL.print("Baud Rate : ");
+  DEBUG_SERIAL.println(returned_baudrate);
+  delay(100);
+  // Read DYNAMIXEL Present Position
+  dxl.read(DXL_ID, PRESENT_POSITION_ADDR, PRESENT_POSITION_ADDR_LEN, (uint8_t*)&present_position, sizeof(present_position), TIMEOUT);
+  DEBUG_SERIAL.print("Present Position : ");
+  DEBUG_SERIAL.println(present_position);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+}
diff --git a/examples/dynamixel_protocol/read_x/read_x.ino b/examples/dynamixel_protocol/read_x/read_x.ino
index af54ab3..02e073c 100644
--- a/examples/dynamixel_protocol/read_x/read_x.ino
+++ b/examples/dynamixel_protocol/read_x/read_x.ino
@@ -1,110 +1,110 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
-
-//Please see eManual Control Table section of your DYNAMIXEL.
-//This example is written based on DYNAMIXEL X series(excluding XL-320)
-#define ID_ADDR                 7
-#define ID_ADDR_LEN             1
-#define BAUDRATE_ADDR           8
-#define BAUDRATE_ADDR_LEN       1
-#define PROTOCOL_TYPE_ADDR      13
-#define PROTOCOL_TYPE_ADDR_LEN  1
-#define TIMEOUT 10    //default communication timeout 10ms
-
-uint8_t returned_id = 0;
-uint8_t returned_baudrate = 0;
-uint8_t returned_protocol = 0;
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
-  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-
-  DEBUG_SERIAL.println("Refer to eManual for more details.");
-  DEBUG_SERIAL.println("https://emanual.robotis.com/docs/en/dxl/");
-  DEBUG_SERIAL.print("Read for PROTOCOL ");
-  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
-  DEBUG_SERIAL.print(", ID ");
-  DEBUG_SERIAL.println(DXL_ID);
-
-  // Read DYNAMIXEL ID
-  dxl.read(DXL_ID, ID_ADDR, ID_ADDR_LEN, (uint8_t*)&returned_id, sizeof(returned_id), TIMEOUT);
-  DEBUG_SERIAL.print("ID : ");
-  DEBUG_SERIAL.println(returned_id);
-  delay(100);
-  // Read DYNAMIXEL Baudrate
-  dxl.read(DXL_ID, BAUDRATE_ADDR, BAUDRATE_ADDR_LEN, (uint8_t*)&returned_baudrate, sizeof(returned_baudrate), TIMEOUT);
-  DEBUG_SERIAL.print("Baud Rate : ");
-  DEBUG_SERIAL.println(returned_baudrate);
-  delay(100);
-  // Read DYNAMIXEL Protocol type
-  dxl.read(DXL_ID, PROTOCOL_TYPE_ADDR, PROTOCOL_TYPE_ADDR_LEN, (uint8_t*)&returned_protocol, sizeof(returned_protocol), TIMEOUT);
-  DEBUG_SERIAL.print("Protocol Type : ");
-  DEBUG_SERIAL.println(returned_protocol);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+//Please see eManual Control Table section of your DYNAMIXEL.
+//This example is written based on DYNAMIXEL X series(excluding XL-320)
+#define ID_ADDR                 7
+#define ID_ADDR_LEN             1
+#define BAUDRATE_ADDR           8
+#define BAUDRATE_ADDR_LEN       1
+#define PROTOCOL_TYPE_ADDR      13
+#define PROTOCOL_TYPE_ADDR_LEN  1
+#define TIMEOUT 10    //default communication timeout 10ms
+
+uint8_t returned_id = 0;
+uint8_t returned_baudrate = 0;
+uint8_t returned_protocol = 0;
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
+  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+
+  DEBUG_SERIAL.println("Refer to eManual for more details.");
+  DEBUG_SERIAL.println("https://emanual.robotis.com/docs/en/dxl/");
+  DEBUG_SERIAL.print("Read for PROTOCOL ");
+  DEBUG_SERIAL.print(DXL_PROTOCOL_VERSION, 1);
+  DEBUG_SERIAL.print(", ID ");
+  DEBUG_SERIAL.println(DXL_ID);
+
+  // Read DYNAMIXEL ID
+  dxl.read(DXL_ID, ID_ADDR, ID_ADDR_LEN, (uint8_t*)&returned_id, sizeof(returned_id), TIMEOUT);
+  DEBUG_SERIAL.print("ID : ");
+  DEBUG_SERIAL.println(returned_id);
+  delay(100);
+  // Read DYNAMIXEL Baudrate
+  dxl.read(DXL_ID, BAUDRATE_ADDR, BAUDRATE_ADDR_LEN, (uint8_t*)&returned_baudrate, sizeof(returned_baudrate), TIMEOUT);
+  DEBUG_SERIAL.print("Baud Rate : ");
+  DEBUG_SERIAL.println(returned_baudrate);
+  delay(100);
+  // Read DYNAMIXEL Protocol type
+  dxl.read(DXL_ID, PROTOCOL_TYPE_ADDR, PROTOCOL_TYPE_ADDR_LEN, (uint8_t*)&returned_protocol, sizeof(returned_protocol), TIMEOUT);
+  DEBUG_SERIAL.print("Protocol Type : ");
+  DEBUG_SERIAL.println(returned_protocol);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+}
diff --git a/examples/dynamixel_protocol/reboot/reboot.ino b/examples/dynamixel_protocol/reboot/reboot.ino
index e0e7b11..47ff513 100644
--- a/examples/dynamixel_protocol/reboot/reboot.ino
+++ b/examples/dynamixel_protocol/reboot/reboot.ino
@@ -1,100 +1,100 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
-
-#define TIMEOUT 10    //default communication timeout 10ms
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-uint8_t option = 0;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
-  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-
-  bool ret = false;
-  DEBUG_SERIAL.println();
-  DEBUG_SERIAL.println("Reboot DYNAMIXEL? [y/n]");
-
-  DEBUG_SERIAL.read();
-  while(DEBUG_SERIAL.available()==0);
-  option = DEBUG_SERIAL.read();
-
-  switch(option) {
-    case 'y':
-    case 'Y':
-      ret = dxl.reboot(DXL_ID, TIMEOUT);
-      break;
-    default:
-      break;
-  }
-  if(ret) {
-    DEBUG_SERIAL.println("Reboot Succeeded!");
-  } else {
-    DEBUG_SERIAL.println("Reboot Failed!");
-  }
-
-  delay(1000);
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+#define TIMEOUT 10    //default communication timeout 10ms
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+uint8_t option = 0;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
+  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+  bool ret = false;
+  DEBUG_SERIAL.println();
+  DEBUG_SERIAL.println("Reboot DYNAMIXEL? [y/n]");
+
+  DEBUG_SERIAL.read();
+  while(DEBUG_SERIAL.available()==0);
+  option = DEBUG_SERIAL.read();
+
+  switch(option) {
+    case 'y':
+    case 'Y':
+      ret = dxl.reboot(DXL_ID, TIMEOUT);
+      break;
+    default:
+      break;
+  }
+  if(ret) {
+    DEBUG_SERIAL.println("Reboot Succeeded!");
+  } else {
+    DEBUG_SERIAL.println("Reboot Failed!");
+  }
+
+  delay(1000);
 }
\ No newline at end of file
diff --git a/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino b/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
index 3aba2c6..36005ca 100644
--- a/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
+++ b/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
@@ -1,139 +1,139 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
-
-//Please see eManual Control Table section of your DYNAMIXEL.
-//This example is written for DYNAMIXEL AX & MX series with Protocol 1.0.
-//For MX 2.0 with Protocol 2.0, refer to write_x.ino example.
-#define CW_ANGLE_LIMIT_ADDR         6
-#define CCW_ANGLE_LIMIT_ADDR        8
-#define ANGLE_LIMIT_ADDR_LEN        2
-#define OPERATING_MODE_ADDR_LEN     2
-#define TORQUE_ENABLE_ADDR          24
-#define TORQUE_ENABLE_ADDR_LEN      1
-#define LED_ADDR                    25
-#define LED_ADDR_LEN                1
-#define GOAL_POSITION_ADDR          30
-#define GOAL_POSITION_ADDR_LEN      2
-#define PRESENT_POSITION_ADDR       36
-#define PRESENT_POSITION_ADDR_LEN   2
-#define TIMEOUT 10    //default communication timeout 10ms
-
-uint8_t turn_on = 1;
-uint8_t turn_off = 0;
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 1.0;
-
-uint16_t goalPosition1 = 0;
-uint16_t goalPosition2 = 1023;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // For Uno, Nano, Mini, and Mega, use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
-  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-
-  // Turn off torque when configuring items in EEPROM area
-  if(dxl.write(DXL_ID, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_off , TORQUE_ENABLE_ADDR_LEN, TIMEOUT))
-    DEBUG_SERIAL.println("DYNAMIXEL Torque off");
-  else
-    DEBUG_SERIAL.println("Error: Torque off failed");
-
-  // Set to Joint Mode
-  if(dxl.write(DXL_ID, CW_ANGLE_LIMIT_ADDR, (uint8_t*)&goalPosition1, ANGLE_LIMIT_ADDR_LEN, TIMEOUT)
-        && dxl.write(DXL_ID, CCW_ANGLE_LIMIT_ADDR, (uint8_t*)&goalPosition2, ANGLE_LIMIT_ADDR_LEN, TIMEOUT))
-    DEBUG_SERIAL.println("Set operating mode");
-  else
-    DEBUG_SERIAL.println("Error: Set operating mode failed");
-
-  // Turn on torque
-  if(dxl.write(DXL_ID, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_on, TORQUE_ENABLE_ADDR_LEN, TIMEOUT))
-    DEBUG_SERIAL.println("Torque on");
-  else
-    DEBUG_SERIAL.println("Error: Torque on failed");
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-
-  // LED On
-  DEBUG_SERIAL.println("LED ON");
-  dxl.write(DXL_ID, LED_ADDR, (uint8_t*)&turn_on, LED_ADDR_LEN, TIMEOUT);
-  delay(500);
-  
-  // Please refer to e-Manual(http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/) for available range of value. 
-  // Set Goal Position
-  DEBUG_SERIAL.print("Goal Position : ");
-  DEBUG_SERIAL.println(goalPosition1);
-  dxl.write(DXL_ID, GOAL_POSITION_ADDR, (uint8_t*)&goalPosition1, GOAL_POSITION_ADDR_LEN, TIMEOUT);
-  delay(1000);
-  
-  // LED Off
-  DEBUG_SERIAL.println("LED OFF");
-  dxl.write(DXL_ID, LED_ADDR, (uint8_t*)&turn_off, LED_ADDR_LEN, TIMEOUT);
-  delay(500);
-
-  // Set Goal Position
-  DEBUG_SERIAL.print("Goal Position : ");
-  DEBUG_SERIAL.println(goalPosition2);
-  dxl.write(DXL_ID, GOAL_POSITION_ADDR, (uint8_t*)&goalPosition2, GOAL_POSITION_ADDR_LEN, TIMEOUT);
-  delay(1000);
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+//Please see eManual Control Table section of your DYNAMIXEL.
+//This example is written for DYNAMIXEL AX & MX series with Protocol 1.0.
+//For MX 2.0 with Protocol 2.0, refer to write_x.ino example.
+#define CW_ANGLE_LIMIT_ADDR         6
+#define CCW_ANGLE_LIMIT_ADDR        8
+#define ANGLE_LIMIT_ADDR_LEN        2
+#define OPERATING_MODE_ADDR_LEN     2
+#define TORQUE_ENABLE_ADDR          24
+#define TORQUE_ENABLE_ADDR_LEN      1
+#define LED_ADDR                    25
+#define LED_ADDR_LEN                1
+#define GOAL_POSITION_ADDR          30
+#define GOAL_POSITION_ADDR_LEN      2
+#define PRESENT_POSITION_ADDR       36
+#define PRESENT_POSITION_ADDR_LEN   2
+#define TIMEOUT 10    //default communication timeout 10ms
+
+uint8_t turn_on = 1;
+uint8_t turn_off = 0;
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 1.0;
+
+uint16_t goalPosition1 = 0;
+uint16_t goalPosition2 = 1023;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // For Uno, Nano, Mini, and Mega, use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
+  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+
+  // Turn off torque when configuring items in EEPROM area
+  if(dxl.write(DXL_ID, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_off , TORQUE_ENABLE_ADDR_LEN, TIMEOUT))
+    DEBUG_SERIAL.println("DYNAMIXEL Torque off");
+  else
+    DEBUG_SERIAL.println("Error: Torque off failed");
+
+  // Set to Joint Mode
+  if(dxl.write(DXL_ID, CW_ANGLE_LIMIT_ADDR, (uint8_t*)&goalPosition1, ANGLE_LIMIT_ADDR_LEN, TIMEOUT)
+        && dxl.write(DXL_ID, CCW_ANGLE_LIMIT_ADDR, (uint8_t*)&goalPosition2, ANGLE_LIMIT_ADDR_LEN, TIMEOUT))
+    DEBUG_SERIAL.println("Set operating mode");
+  else
+    DEBUG_SERIAL.println("Error: Set operating mode failed");
+
+  // Turn on torque
+  if(dxl.write(DXL_ID, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_on, TORQUE_ENABLE_ADDR_LEN, TIMEOUT))
+    DEBUG_SERIAL.println("Torque on");
+  else
+    DEBUG_SERIAL.println("Error: Torque on failed");
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+  // LED On
+  DEBUG_SERIAL.println("LED ON");
+  dxl.write(DXL_ID, LED_ADDR, (uint8_t*)&turn_on, LED_ADDR_LEN, TIMEOUT);
+  delay(500);
+  
+  // Please refer to e-Manual(http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/) for available range of value. 
+  // Set Goal Position
+  DEBUG_SERIAL.print("Goal Position : ");
+  DEBUG_SERIAL.println(goalPosition1);
+  dxl.write(DXL_ID, GOAL_POSITION_ADDR, (uint8_t*)&goalPosition1, GOAL_POSITION_ADDR_LEN, TIMEOUT);
+  delay(1000);
+  
+  // LED Off
+  DEBUG_SERIAL.println("LED OFF");
+  dxl.write(DXL_ID, LED_ADDR, (uint8_t*)&turn_off, LED_ADDR_LEN, TIMEOUT);
+  delay(500);
+
+  // Set Goal Position
+  DEBUG_SERIAL.print("Goal Position : ");
+  DEBUG_SERIAL.println(goalPosition2);
+  dxl.write(DXL_ID, GOAL_POSITION_ADDR, (uint8_t*)&goalPosition2, GOAL_POSITION_ADDR_LEN, TIMEOUT);
+  delay(1000);
+}
diff --git a/examples/dynamixel_protocol/write_x/write_x.ino b/examples/dynamixel_protocol/write_x/write_x.ino
index a6f0b3a..4aaab18 100644
--- a/examples/dynamixel_protocol/write_x/write_x.ino
+++ b/examples/dynamixel_protocol/write_x/write_x.ino
@@ -1,137 +1,137 @@
-/*******************************************************************************
-* Copyright 2016 ROBOTIS CO., LTD.
-*
-* Licensed under the Apache License, Version 2.0 (the "License");
-* you may not use this file except in compliance with the License.
-* You may obtain a copy of the License at
-*
-*     http://www.apache.org/licenses/LICENSE-2.0
-*
-* Unless required by applicable law or agreed to in writing, software
-* distributed under the License is distributed on an "AS IS" BASIS,
-* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
-* See the License for the specific language governing permissions and
-* limitations under the License.
-*******************************************************************************/
-
-#include <Dynamixel2Arduino.h>
-
-// Please modify it to suit your hardware.
-#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
-  #include <SoftwareSerial.h>
-  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
-  #define DXL_SERIAL   Serial
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
-  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
-#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
-  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
-  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
-  #define DXL_SERIAL   Serial3
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenCM_X_MKR)  // When using official ROBOTIS OpenCM-X MKR board.
-  //OpenCM-X MKR does not require the DIR control pin.
-  #define DXL_SERIAL Serial1
-  #define DEBUG_SERIAL Serial
-#else // Other boards when using DynamixelShield
-  #define DXL_SERIAL   Serial1
-  #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
-#endif
-
-//Please see eManual Control Table section of your DYNAMIXEL.
-//This example is written for DYNAMIXEL X series(excluding XL-320)
-#define OPERATING_MODE_ADDR         11
-#define OPERATING_MODE_ADDR_LEN     1
-#define TORQUE_ENABLE_ADDR          64
-#define TORQUE_ENABLE_ADDR_LEN      1
-#define LED_ADDR                    65
-#define LED_ADDR_LEN                1
-#define GOAL_POSITION_ADDR          116
-#define GOAL_POSITION_ADDR_LEN      4
-#define PRESENT_POSITION_ADDR       132
-#define PRESENT_POSITION_ADDR_LEN   4
-#define POSITION_CONTROL_MODE       3
-#define TIMEOUT 10    //default communication timeout 10ms
-
-uint8_t turn_on = 1;
-uint8_t turn_off = 0;
-
-const uint8_t DXL_ID = 1;
-const float DXL_PROTOCOL_VERSION = 2.0;
-
-uint8_t operatingMode = POSITION_CONTROL_MODE;
-uint32_t goalPosition1 = 512;
-uint32_t goalPosition2 = 2048;
-
-Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
-
-void setup() {
-  // put your setup code here, to run once:
-  
-  // Use UART port of DYNAMIXEL Shield to debug.
-  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
-  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
-  
-  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
-  dxl.begin(57600);
-  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
-  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
-
-  // Turn off torque when configuring items in EEPROM area
-  if(dxl.write(DXL_ID, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_off , TORQUE_ENABLE_ADDR_LEN, TIMEOUT))
-    DEBUG_SERIAL.println("DYNAMIXEL Torque off");
-  else
-    DEBUG_SERIAL.println("Error: Torque off failed");
-
-  // Set Operating Mode
-  if(dxl.write(DXL_ID, OPERATING_MODE_ADDR, (uint8_t*)&operatingMode, OPERATING_MODE_ADDR_LEN, TIMEOUT))
-    DEBUG_SERIAL.println("Set operating mode");
-  else
-    DEBUG_SERIAL.println("Error: Set operating mode failed");
-
-  // Turn on torque
-  if(dxl.write(DXL_ID, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_on, TORQUE_ENABLE_ADDR_LEN, TIMEOUT))
-    DEBUG_SERIAL.println("Torque on");
-  else
-    DEBUG_SERIAL.println("Error: Torque on failed");
-}
-
-void loop() {
-  // put your main code here, to run repeatedly:
-
-  // LED On
-  DEBUG_SERIAL.println("LED ON");
-  dxl.write(DXL_ID, LED_ADDR, (uint8_t*)&turn_on, LED_ADDR_LEN, TIMEOUT);
-  delay(500);
-  
-  // Please refer to e-Manual(http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/) for available range of value. 
-  // Set Goal Position
-  DEBUG_SERIAL.print("Goal Position : ");
-  DEBUG_SERIAL.println(goalPosition1);
-  dxl.write(DXL_ID, GOAL_POSITION_ADDR, (uint8_t*)&goalPosition1, GOAL_POSITION_ADDR_LEN, TIMEOUT);
-  delay(1000);
-  
-  // LED Off
-  DEBUG_SERIAL.println("LED OFF");
-  dxl.write(DXL_ID, LED_ADDR, (uint8_t*)&turn_off, LED_ADDR_LEN, TIMEOUT);
-  delay(500);
-
-  // Set Goal Position
-  DEBUG_SERIAL.print("Goal Position : ");
-  DEBUG_SERIAL.println(goalPosition2);
-  dxl.write(DXL_ID, GOAL_POSITION_ADDR, (uint8_t*)&goalPosition2, GOAL_POSITION_ADDR_LEN, TIMEOUT);
-  delay(1000);
-}
+/*******************************************************************************
+* Copyright 2016 ROBOTIS CO., LTD.
+*
+* Licensed under the Apache License, Version 2.0 (the "License");
+* you may not use this file except in compliance with the License.
+* You may obtain a copy of the License at
+*
+*     http://www.apache.org/licenses/LICENSE-2.0
+*
+* Unless required by applicable law or agreed to in writing, software
+* distributed under the License is distributed on an "AS IS" BASIS,
+* WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+* See the License for the specific language governing permissions and
+* limitations under the License.
+*******************************************************************************/
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+//Please see eManual Control Table section of your DYNAMIXEL.
+//This example is written for DYNAMIXEL X series(excluding XL-320)
+#define OPERATING_MODE_ADDR         11
+#define OPERATING_MODE_ADDR_LEN     1
+#define TORQUE_ENABLE_ADDR          64
+#define TORQUE_ENABLE_ADDR_LEN      1
+#define LED_ADDR                    65
+#define LED_ADDR_LEN                1
+#define GOAL_POSITION_ADDR          116
+#define GOAL_POSITION_ADDR_LEN      4
+#define PRESENT_POSITION_ADDR       132
+#define PRESENT_POSITION_ADDR_LEN   4
+#define POSITION_CONTROL_MODE       3
+#define TIMEOUT 10    //default communication timeout 10ms
+
+uint8_t turn_on = 1;
+uint8_t turn_off = 0;
+
+const uint8_t DXL_ID = 1;
+const float DXL_PROTOCOL_VERSION = 2.0;
+
+uint8_t operatingMode = POSITION_CONTROL_MODE;
+uint32_t goalPosition1 = 512;
+uint32_t goalPosition2 = 2048;
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+void setup() {
+  // put your setup code here, to run once:
+  
+  // Use UART port of DYNAMIXEL Shield to debug.
+  DEBUG_SERIAL.begin(115200);   //Set debugging port baudrate to 115200bps
+  while(!DEBUG_SERIAL);         //Wait until the serial port for terminal is opened
+  
+  // Set Port baudrate to 57600bps. This has to match with DYNAMIXEL baudrate.
+  dxl.begin(57600);
+  // Set Port Protocol Version. This has to match with DYNAMIXEL protocol version.
+  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);
+
+  // Turn off torque when configuring items in EEPROM area
+  if(dxl.write(DXL_ID, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_off , TORQUE_ENABLE_ADDR_LEN, TIMEOUT))
+    DEBUG_SERIAL.println("DYNAMIXEL Torque off");
+  else
+    DEBUG_SERIAL.println("Error: Torque off failed");
+
+  // Set Operating Mode
+  if(dxl.write(DXL_ID, OPERATING_MODE_ADDR, (uint8_t*)&operatingMode, OPERATING_MODE_ADDR_LEN, TIMEOUT))
+    DEBUG_SERIAL.println("Set operating mode");
+  else
+    DEBUG_SERIAL.println("Error: Set operating mode failed");
+
+  // Turn on torque
+  if(dxl.write(DXL_ID, TORQUE_ENABLE_ADDR, (uint8_t*)&turn_on, TORQUE_ENABLE_ADDR_LEN, TIMEOUT))
+    DEBUG_SERIAL.println("Torque on");
+  else
+    DEBUG_SERIAL.println("Error: Torque on failed");
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+
+  // LED On
+  DEBUG_SERIAL.println("LED ON");
+  dxl.write(DXL_ID, LED_ADDR, (uint8_t*)&turn_on, LED_ADDR_LEN, TIMEOUT);
+  delay(500);
+  
+  // Please refer to e-Manual(http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/) for available range of value. 
+  // Set Goal Position
+  DEBUG_SERIAL.print("Goal Position : ");
+  DEBUG_SERIAL.println(goalPosition1);
+  dxl.write(DXL_ID, GOAL_POSITION_ADDR, (uint8_t*)&goalPosition1, GOAL_POSITION_ADDR_LEN, TIMEOUT);
+  delay(1000);
+  
+  // LED Off
+  DEBUG_SERIAL.println("LED OFF");
+  dxl.write(DXL_ID, LED_ADDR, (uint8_t*)&turn_off, LED_ADDR_LEN, TIMEOUT);
+  delay(500);
+
+  // Set Goal Position
+  DEBUG_SERIAL.print("Goal Position : ");
+  DEBUG_SERIAL.println(goalPosition2);
+  dxl.write(DXL_ID, GOAL_POSITION_ADDR, (uint8_t*)&goalPosition2, GOAL_POSITION_ADDR_LEN, TIMEOUT);
+  delay(1000);
+}
diff --git a/src/utility/port_handler.cpp b/src/utility/port_handler.cpp
index 46c5146..a55cb3a 100644
--- a/src/utility/port_handler.cpp
+++ b/src/utility/port_handler.cpp
@@ -31,7 +31,7 @@ void SerialPortHandler::begin()
 
 void SerialPortHandler::begin(unsigned long baud)
 {
-#if defined(ARDUINO_OpenCM904) || defined(ARDUINO_OpenCM_X_MKR)
+#if defined(ARDUINO_OpenCM904) || defined(ARDUINO_OpenRB)
   if(port_ == Serial1 && getOpenState() == false){
     Serial1.setDxlMode(true);
   }

From 8b56667e5c4f8b1d7a5e2a4d346c652bfab0fa4e Mon Sep 17 00:00:00 2001
From: Will Son <willson@robotis.com>
Date: Mon, 28 Mar 2022 18:19:21 +0900
Subject: [PATCH 09/24] update begin for OpenRB

Signed-off-by: Will Son <willson@robotis.com>
---
 src/utility/port_handler.cpp | 7 ++++++-
 1 file changed, 6 insertions(+), 1 deletion(-)

diff --git a/src/utility/port_handler.cpp b/src/utility/port_handler.cpp
index a55cb3a..7cfb118 100644
--- a/src/utility/port_handler.cpp
+++ b/src/utility/port_handler.cpp
@@ -31,10 +31,15 @@ void SerialPortHandler::begin()
 
 void SerialPortHandler::begin(unsigned long baud)
 {
-#if defined(ARDUINO_OpenCM904) || defined(ARDUINO_OpenRB)
+#if defined(ARDUINO_OpenCM904)
   if(port_ == Serial1 && getOpenState() == false){
     Serial1.setDxlMode(true);
   }
+#elif defined(ARDUINO_OpenRB)
+  if(port_ == Serial1 && getOpenState() == false){
+    pinMode(BDPIN_DXL_PWR_EN, OUTPUT);
+    digitalWrite(BDPIN_DXL_PWR_EN, HIGH);
+  }
 #elif defined(ARDUINO_OpenCR)
   if(port_ == Serial3 && getOpenState() == false){
     pinMode(BDPIN_DXL_PWR_EN, OUTPUT);

From d281079125998a13a07a0d17ae2bb071c3879563 Mon Sep 17 00:00:00 2001
From: ashekim <ashekim@robotis.com>
Date: Wed, 30 Mar 2022 16:35:37 +0900
Subject: [PATCH 10/24] initial commit

---
 .../indirect_address/indirect_address.ino     | 316 ++++++++++++++++++
 src/utility/master.cpp                        |  95 ++++++
 src/utility/master.h                          |  16 +
 3 files changed, 427 insertions(+)
 create mode 100644 examples/advanced/indirect_address/indirect_address.ino

diff --git a/examples/advanced/indirect_address/indirect_address.ino b/examples/advanced/indirect_address/indirect_address.ino
new file mode 100644
index 0000000..c9c27a3
--- /dev/null
+++ b/examples/advanced/indirect_address/indirect_address.ino
@@ -0,0 +1,316 @@
+// Copyright 2021 ROBOTIS CO., LTD.
+//
+// Licensed under the Apache License, Version 2.0 (the "License");
+// you may not use this file except in compliance with the License.
+// You may obtain a copy of the License at
+//
+//     http://www.apache.org/licenses/LICENSE-2.0
+//
+// Unless required by applicable law or agreed to in writing, software
+// distributed under the License is distributed on an "AS IS" BASIS,
+// WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+// See the License for the specific language governing permissions and
+// limitations under the License.
+
+// Example Environment
+//
+// - DYNAMIXEL: X series
+//              ID = 1 & 2, Baudrate = 57600bps, DYNAMIXEL Protocol 2.0
+// - Controller: Arduino MKR ZERO
+//               DYNAMIXEL Shield for Arduino MKR
+// - https://emanual.robotis.com/docs/en/parts/interface/mkr_shield/
+//
+// Author: Ashe Kim
+
+#include <Dynamixel2Arduino.h>
+
+// Please modify it to suit your hardware.
+#if defined(ARDUINO_AVR_UNO) || defined(ARDUINO_AVR_MEGA2560) // When using DynamixelShield
+  #include <SoftwareSerial.h>
+  SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL soft_serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
+  #define DXL_SERIAL   Serial
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL SerialUSB
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
+  #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+#elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
+  // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
+  // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
+  #define DXL_SERIAL   Serial3
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#else // Other boards when using DynamixelShield
+  #define DXL_SERIAL   Serial1
+  #define DEBUG_SERIAL Serial
+  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+#endif
+
+
+/* syncRead
+  DYNAMIXEL PROTOCOL 1.0 does NOT support Sync Read feature.
+  Structures containing the necessary information to process the 'syncRead' packet.
+
+  typedef struct XELInfoBulkRead{
+    uint16_t addr;
+    uint16_t addr_length;
+    uint8_t *p_recv_buf;
+    uint8_t id;
+    uint8_t error;
+  } __attribute__((packed)) XELInfoBulkRead_t;
+
+  typedef struct InfoBulkReadInst{
+    XELInfoBulkRead_t* p_xels;
+    uint8_t xel_count;
+    bool is_info_changed;
+    InfoSyncBulkBuffer_t packet;
+  } __attribute__((packed)) InfoBulkReadInst_t;
+*/
+
+/* syncWrite
+  DYNAMIXEL PROTOCOL 1.0 supports Control Table address up to 255.
+  Structures containing the necessary information to process the 'syncWrite' packet.
+
+  typedef struct XELInfoBulkWrite{
+    uint16_t addr;
+    uint16_t addr_length;
+    uint8_t* p_data;
+    uint8_t id;
+  } __attribute__((packed)) XELInfoBulkWrite_t;
+
+  typedef struct InfoBulkWriteInst{
+    XELInfoBulkWrite_t* p_xels;
+    uint8_t xel_count;
+    bool is_info_changed;
+    InfoSyncBulkBuffer_t packet;
+  } __attribute__((packed)) InfoBulkWriteInst_t;
+*/
+
+const uint8_t BROADCAST_ID = 254;
+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};
+
+const uint16_t user_pkt_buf_cap = 128;
+uint8_t user_pkt_buf[user_pkt_buf_cap];
+
+const uint16_t SW_START_ADDR = 168; // Indirect Address1 Address. Starting Data Addr, Can differ Depending on what address to access
+const uint16_t SW_ADDR_LEN = 2; // Data Length 2*(1+4), Can differ depending on how many address to access. 
+
+const uint16_t SR_START_ADDR = 224; // Indirect Data1 Address. Starting Data Addr, Can differ Depending on what address to access
+const uint16_t SR_ADDR_LEN = 1; // Data Length (1+4), Can differ depending on how many address to access. 
+
+const uint16_t LED_ADDR = 65; // LED Address. Starting Data Addr
+const uint16_t LED_LEN = 1; // LED Data Length. 
+
+const uint16_t GOAL_POSITION_ADDR = 116; // Goal position Address. Starting Data Addr
+const uint16_t GOAL_POSITION_LEN = 4; // Goal position Data Length. 
+
+uint8_t do_once = false;
+
+typedef struct id_data{
+  int16_t led;
+  // int32_t goal_position[4];
+} __attribute__((packed)) id_data_t;
+
+typedef struct sw_data{
+  int16_t led;
+  // int32_t goal_position;
+} __attribute__((packed)) sw_data_t;
+
+typedef struct sr_data{
+  int16_t led;
+  int32_t present_position;
+} __attribute__((packed)) sr_data_t;
+
+id_data_t id_data[DXL_ID_CNT];
+DYNAMIXEL::InfoIndirectAddressInst_t id_infos;
+DYNAMIXEL::XELInfoIndirectAddress_t info_xels_id[DXL_ID_CNT];
+
+sw_data_t sw_data[DXL_ID_CNT];
+DYNAMIXEL::InfoSyncWriteInst_t sw_infos;
+DYNAMIXEL::XELInfoSyncWrite_t info_xels_sw[DXL_ID_CNT];
+
+sr_data_t sr_data[DXL_ID_CNT];
+DYNAMIXEL::InfoSyncReadInst_t sr_infos;
+DYNAMIXEL::XELInfoSyncRead_t info_xels_sr[DXL_ID_CNT];
+
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
+
+//This namespace is required to use Control table item names
+using namespace ControlTableItem;
+
+int32_t led_state[2] = {0, 1};
+uint8_t led_index = 0;
+
+void setup() {
+  // put your setup code here, to run once:
+  uint8_t i;
+  pinMode(LED_BUILTIN, OUTPUT);
+  DEBUG_SERIAL.begin(115200);
+  dxl.begin(57600);
+  dxl.setPortProtocolVersion(DYNAMIXEL_PROTOCOL_VERSION);
+  
+  for(i=0; i<DXL_ID_CNT; i++){
+    dxl.torqueOff(DXL_ID_LIST[i]);
+    dxl.setOperatingMode(DXL_ID_LIST[i], OP_VELOCITY);
+  }
+  dxl.torqueOn(BROADCAST_ID);
+
+  // IndirectAddress 
+  // dxl.setIndirectAddress(uint8_t dynamixel_id, uint8_t item_index, uint16_t target_indirect_address)
+  ////////////////////////////////////////////////////////////////////////////////////
+  id_infos.packet.p_buf = nullptr;
+  id_infos.packet.is_completed = false;
+  id_infos.addr = SW_START_ADDR;
+  id_infos.addr_length = SW_ADDR_LEN;
+  id_infos.p_xels = info_xels_id;
+  id_infos.xel_count = 0;
+
+  id_data[0].led = LED_ADDR;
+  id_data[1].led = LED_ADDR;  
+
+  // for(i=0; i<DXL_ID_CNT; i++){
+  //   id_data[0].goal_position[i] = GOAL_POSITION_ADDR + i;
+  //   id_data[1].goal_position[i] = GOAL_POSITION_ADDR + i;
+  // }  
+  
+  for(i=0; i<DXL_ID_CNT; i++){
+    info_xels_id[i].id = DXL_ID_LIST[i];
+    // info_xels_id[i].p_data = (uint8_t*)&id_data[i].goal_position;
+    info_xels_id[i].p_data = id_data[i].led;
+    id_infos.xel_count++;
+  }
+  id_infos.is_info_changed = true;
+
+  // Fill the members of structure to syncWrite using internal packet buffer
+  ////////////////////////////////////////////////////////////////////////////////////
+  sw_infos.packet.p_buf = nullptr;
+  sw_infos.packet.is_completed = false;
+  sw_infos.addr = SR_START_ADDR;
+  sw_infos.addr_length = SR_ADDR_LEN;
+  sw_infos.p_xels = info_xels_sw;
+  sw_infos.xel_count = 0;
+
+  sw_data[0].led = led_state[led_index];
+  sw_data[1].led = led_state[led_index];  
+
+  // sw_data[0].goal_position = 0;
+  // sw_data[1].goal_position = 100;
+  
+  for(i=0; i<DXL_ID_CNT; i++){
+    info_xels_sw[i].id = DXL_ID_LIST[i];
+    // info_xels_sw[i].p_data = (uint8_t*)&sw_data[i].goal_position;
+    info_xels_sw[i].p_data = (uint8_t*)&sw_data[i].led;
+    sw_infos.xel_count++;
+  }
+  sw_infos.is_info_changed = true;
+
+  // Fill the members of structure to syncRead using external user packet buffer
+  ////////////////////////////////////////////////////////////////////////////////////
+  sr_infos.packet.p_buf = user_pkt_buf;
+  sr_infos.packet.buf_capacity = user_pkt_buf_cap;
+  sr_infos.packet.is_completed = false;
+  sr_infos.addr = SR_START_ADDR;
+  sr_infos.addr_length = SR_ADDR_LEN;
+  sr_infos.p_xels = info_xels_sr;
+  sr_infos.xel_count = 0;  
+
+  for(i=0; i<DXL_ID_CNT; i++){
+    info_xels_sr[i].id = DXL_ID_LIST[i];
+    info_xels_sr[i].p_recv_buf = (uint8_t*)&sr_data[i];
+    sr_infos.xel_count++;
+  }
+  sr_infos.is_info_changed = true;
+}
+
+void loop() {
+  // put your main code here, to run repeatedly:
+  static uint32_t try_count = 0;
+  uint8_t i;
+  uint8_t recv_cnt;
+
+  delay(250);
+
+  // setIndirectAddress //////////////////////////////////////////////////////////////
+  ////////////////////////////////////////////////////////////////////////////////////
+
+  DEBUG_SERIAL.print("\n>>>>>> Indirect Address Test : ");
+  DEBUG_SERIAL.println(try_count++);
+  if(dxl.setIndirectAddress(&id_infos) == true){
+    DEBUG_SERIAL.println("[Indirect Address] Success!!");
+    for(i=0; i<id_infos.xel_count; i++){
+      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.println(id_infos.p_xels[i].id);
+      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(id_data[i].led);
+      // DEBUG_SERIAL.print("\t Goal Position: ");DEBUG_SERIAL.println(id_data[i].goal_position);
+    }
+  } else{
+    DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
+    DEBUG_SERIAL.print(dxl.getLastLibErrCode());
+  }
+  DEBUG_SERIAL.println();
+
+  delay(250);
+
+  // syncWrite ///////////////////////////////////////////////////////////////////////
+  ////////////////////////////////////////////////////////////////////////////////////
+
+  for(i = 0; i < DXL_ID_CNT; i++){
+    // sw_data[i].goal_position = 100 + sw_data[i].goal_position;
+    // if(sw_data[i].goal_position >= 200){
+    //   sw_data[i].goal_position = 0;
+    // }
+     sw_data[i].led = led_state[led_index];
+  }
+  sw_infos.is_info_changed = true;
+
+  if(dxl.syncWrite(&sw_infos) == true){
+    DEBUG_SERIAL.println("[SyncWrite] Success!!");
+    for(i=0; i<sw_infos.xel_count; i++){
+      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.println(sw_infos.p_xels[i].id);
+      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].led);
+      // DEBUG_SERIAL.print("\t Goal Position: ");DEBUG_SERIAL.println(sw_data[i].goal_position);
+    }
+    if(led_index == 0)
+      led_index = 1;
+    else
+      led_index = 0;
+  }else{
+    DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
+    DEBUG_SERIAL.print(dxl.getLastLibErrCode());
+  }
+  DEBUG_SERIAL.println();
+
+  delay(250);
+
+  // syncRead ////////////////////////////////////////////////////////////////////////
+  ////////////////////////////////////////////////////////////////////////////////////
+
+  recv_cnt = dxl.syncRead(&sr_infos);
+  if(recv_cnt > 0){
+    DEBUG_SERIAL.print("[SyncRead] Success!! Received ID Count: ");
+    DEBUG_SERIAL.println(recv_cnt);
+    for(i=0; i<recv_cnt; i++){
+      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sr_infos.p_xels[i].id);
+      DEBUG_SERIAL.print(", Error: ");DEBUG_SERIAL.println(sr_infos.p_xels[i].error);
+      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sr_data[i].led);
+      DEBUG_SERIAL.print("\t Present Position: ");DEBUG_SERIAL.println(sr_data[i].present_position);
+    }
+  }else{
+    DEBUG_SERIAL.print("[SyncRead] Fail, Lib error code: ");
+    DEBUG_SERIAL.println(dxl.getLastLibErrCode());
+  }
+  DEBUG_SERIAL.println("=======================================================");
+
+  digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
+  delay(750);
+}
diff --git a/src/utility/master.cpp b/src/utility/master.cpp
index f5bfe7e..0a6fec7 100644
--- a/src/utility/master.cpp
+++ b/src/utility/master.cpp
@@ -1056,6 +1056,101 @@ Master::rxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_t ti
 
 
 
+bool 
+Master::setIndirectAddress(InfoIndirectAddressInst_t* p_info)
+{
+  bool ret = false;
+  DXLLibErrorCode_t err = DXL_LIB_OK;
+  uint8_t i, tx_param[4], param_len = 0;
+  uint8_t data_param[2], data_len = 0;
+  uint8_t* p_packet_buf = nullptr;
+  uint16_t packet_buf_cap;
+  XELInfoIndirectAddress_t* p_xel;
+
+  // Parameter exception handling
+  if(p_port_ == nullptr){
+    err = DXL_LIB_ERROR_NULLPTR;
+  }else if(p_port_->getOpenState() != true){
+    err = DXL_LIB_ERROR_PORT_NOT_OPEN;
+  }else if(protocol_ver_idx_ != 2 && protocol_ver_idx_ != 1){
+    err = DXL_LIB_ERROR_NOT_SUPPORTED;
+  }
+  if(err != DXL_LIB_OK){
+    last_lib_err_ = err;
+    return false;
+  }
+
+  if(p_info->packet.p_buf != nullptr){
+    p_packet_buf = p_info->packet.p_buf;
+    packet_buf_cap = p_info->packet.buf_capacity;
+  }else{
+    p_packet_buf = p_packet_buf_;
+    packet_buf_cap = packet_buf_capacity_;
+  }
+
+  if(p_info->packet.p_buf == nullptr && info_tx_packet_.inst_idx != DXL_INST_SYNC_WRITE){
+    p_info->packet.is_completed = false;
+  }
+
+  if(p_info->packet.is_completed == false || p_info->is_info_changed == true){
+    err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_,
+      DXL_INST_SYNC_WRITE, 0, p_packet_buf, packet_buf_cap);
+    if(err == DXL_LIB_OK){
+      if(protocol_ver_idx_ == 2){
+        tx_param[param_len++] = p_info->addr >> 0;
+        tx_param[param_len++] = p_info->addr >> 8;
+        tx_param[param_len++] = p_info->addr_length >> 0;
+        tx_param[param_len++] = p_info->addr_length >> 8;
+      }else if(protocol_ver_idx_ == 1){
+        tx_param[param_len++] = p_info->addr & 0xFF;
+        tx_param[param_len++] = p_info->addr_length & 0xFF;
+      }
+      err = add_param_to_dxl_packet(&info_tx_packet_, tx_param, param_len);
+      if(err == DXL_LIB_OK){
+        for(i=0; i<p_info->xel_count; i++){
+          p_xel = &p_info->p_xels[i];
+          err = add_param_to_dxl_packet(&info_tx_packet_, &p_xel->id, 1);
+          if(err == DXL_LIB_OK){
+            for(i=0; i<(p_info->addr_length)/2; i++){
+              data_param[data_len++] = p_xel->p_data >> 0;
+              data_param[data_len++] = p_xel->p_data >> 8;
+              err = add_param_to_dxl_packet(&info_tx_packet_, data_param, data_len);
+
+              data_param[0]= 0;
+              data_param[1]= 0;              
+              data_len = 0;              
+            }
+            if(err != DXL_LIB_OK){
+              break;
+            }
+          }else{
+            break;
+          }
+        }
+        if(err == DXL_LIB_OK){
+          err = end_make_dxl_packet(&info_tx_packet_);
+          if(err == DXL_LIB_OK){
+            p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
+            p_info->packet.is_completed = true;      
+            p_info->is_info_changed = false;
+          }
+        }
+      }
+    }
+  }
+
+  if(err == DXL_LIB_OK){
+    p_port_->write(p_packet_buf, p_info->packet.gen_length);
+    ret = true;
+  }else{
+    p_info->packet.is_completed = false;
+  }
+  last_lib_err_ = err;
+
+  return ret;
+}
+
+
 
 // >> Legacy (Deprecated since v0.4.0)
 bool Master::syncRead(const ParamForSyncReadInst_t &param_info, RecvInfoFromStatusInst_t &recv_info, uint32_t timeout_ms)
diff --git a/src/utility/master.h b/src/utility/master.h
index b44c22e..89e5f4b 100644
--- a/src/utility/master.h
+++ b/src/utility/master.h
@@ -134,6 +134,21 @@ typedef struct InfoSyncWriteInst{
   InfoSyncBulkBuffer_t packet;
 } __attribute__((packed)) InfoSyncWriteInst_t;
 
+typedef struct XELInfoIndirectAddress{
+  uint16_t p_data;
+  uint8_t id;
+} __attribute__((packed)) XELInfoIndirectAddress_t;
+
+typedef struct InfoIndirectAddressInst{
+  uint16_t addr;
+  uint16_t addr_length;
+  XELInfoIndirectAddress_t* p_xels;
+  uint8_t xel_count;
+  bool is_info_changed;
+  InfoSyncBulkBuffer_t packet;
+} __attribute__((packed)) InfoIndirectAddressInst_t;
+
+
 /* Bulk Instructions */
 typedef struct XELInfoBulkRead{
   uint16_t addr;
@@ -227,6 +242,7 @@ class Master
     bool syncWrite(InfoSyncWriteInst_t* p_info);
     uint8_t bulkRead(InfoBulkReadInst_t* p_info, uint32_t timeout_ms = 10);
     bool bulkWrite(InfoBulkWriteInst_t* p_info);
+    bool setIndirectAddress(InfoIndirectAddressInst_t* p_info);
 
     uint8_t getLastStatusPacketError() const;
     

From 173304f70d930108bbec07e6442c76b0848e9d75 Mon Sep 17 00:00:00 2001
From: "david.park" <david.park@robotis.com>
Date: Thu, 7 Apr 2022 10:13:48 +0900
Subject: [PATCH 11/24] Maintanance: Slave Port begin

---
 src/utility/slave.cpp | 6 ++++++
 src/utility/slave.h   | 1 +
 2 files changed, 7 insertions(+)

diff --git a/src/utility/slave.cpp b/src/utility/slave.cpp
index fe663e7..58596be 100644
--- a/src/utility/slave.cpp
+++ b/src/utility/slave.cpp
@@ -119,6 +119,12 @@ Slave::getPortProtocolVersion() const
   return (float)protocol_ver_idx_;
 }
 
+void
+Slave::begin(void)
+{
+  p_port_->begin(); 
+}
+
 uint8_t 
 Slave::getPortProtocolVersionIndex() const
 {
diff --git a/src/utility/slave.h b/src/utility/slave.h
index 1cbd207..be0c7f7 100644
--- a/src/utility/slave.h
+++ b/src/utility/slave.h
@@ -54,6 +54,7 @@ class Slave
     void setFirmwareVersion(uint8_t version);
     uint8_t getFirmwareVersion() const;
     
+    void begin();
     bool setPort(DXLPortHandler &port);
     bool setPort(DXLPortHandler *p_port);
     DXLPortHandler* getPort() const;

From 3930b63fc53ec96c78a6872225373afe4b123e4c Mon Sep 17 00:00:00 2001
From: ashekim <ashekim@robotis.com>
Date: Mon, 11 Apr 2022 17:30:28 +0900
Subject: [PATCH 12/24] update Indirect Address example

---
 .../indirect_address/indirect_address.ino     | 168 +++++++-----------
 src/utility/master.cpp                        |  33 ++--
 src/utility/master.h                          |   5 +-
 3 files changed, 93 insertions(+), 113 deletions(-)

diff --git a/examples/advanced/indirect_address/indirect_address.ino b/examples/advanced/indirect_address/indirect_address.ino
index c9c27a3..cba5bc5 100644
--- a/examples/advanced/indirect_address/indirect_address.ino
+++ b/examples/advanced/indirect_address/indirect_address.ino
@@ -56,83 +56,43 @@
 #endif
 
 
-/* syncRead
-  DYNAMIXEL PROTOCOL 1.0 does NOT support Sync Read feature.
-  Structures containing the necessary information to process the 'syncRead' packet.
-
-  typedef struct XELInfoBulkRead{
-    uint16_t addr;
-    uint16_t addr_length;
-    uint8_t *p_recv_buf;
-    uint8_t id;
-    uint8_t error;
-  } __attribute__((packed)) XELInfoBulkRead_t;
-
-  typedef struct InfoBulkReadInst{
-    XELInfoBulkRead_t* p_xels;
-    uint8_t xel_count;
-    bool is_info_changed;
-    InfoSyncBulkBuffer_t packet;
-  } __attribute__((packed)) InfoBulkReadInst_t;
-*/
-
-/* syncWrite
-  DYNAMIXEL PROTOCOL 1.0 supports Control Table address up to 255.
-  Structures containing the necessary information to process the 'syncWrite' packet.
-
-  typedef struct XELInfoBulkWrite{
-    uint16_t addr;
-    uint16_t addr_length;
-    uint8_t* p_data;
-    uint8_t id;
-  } __attribute__((packed)) XELInfoBulkWrite_t;
-
-  typedef struct InfoBulkWriteInst{
-    XELInfoBulkWrite_t* p_xels;
-    uint8_t xel_count;
-    bool is_info_changed;
-    InfoSyncBulkBuffer_t packet;
-  } __attribute__((packed)) InfoBulkWriteInst_t;
-*/
-
 const uint8_t BROADCAST_ID = 254;
 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};
 
 const uint16_t user_pkt_buf_cap = 128;
 uint8_t user_pkt_buf[user_pkt_buf_cap];
 
-const uint16_t SW_START_ADDR = 168; // Indirect Address1 Address. Starting Data Addr, Can differ Depending on what address to access
-const uint16_t SW_ADDR_LEN = 2; // Data Length 2*(1+4), Can differ depending on how many address to access. 
+const uint16_t INDIRECT_ADDR_NUM = 5;
+uint16_t INDIRECT_ADDR_ARRY[INDIRECT_ADDR_NUM] = {65, 116, 117, 118, 119};
 
-const uint16_t SR_START_ADDR = 224; // Indirect Data1 Address. Starting Data Addr, Can differ Depending on what address to access
-const uint16_t SR_ADDR_LEN = 1; // Data Length (1+4), Can differ depending on how many address to access. 
+const uint16_t ID_ADDR_LEN = INDIRECT_ADDR_NUM * 2; // Data Length 2*INDIRECT_ADDR_NUM, Can differ depending on how many address to access. 
+const uint16_t ID_START_ADDR = 168; // Indirect Address1 Address. Starting Data Addr, Can differ Depending on what address to access
 
-const uint16_t LED_ADDR = 65; // LED Address. Starting Data Addr
-const uint16_t LED_LEN = 1; // LED Data Length. 
+const uint16_t SW_ADDR_LEN = 5; // Data Length (1+4), Can differ depending on how many address to access. 
+const uint16_t SW_START_ADDR = 224; // Indirect Data1 Address. Starting Data Addr, Can differ Depending on what address to access
+uint16_t SYNC_WRITE_ARRY[SW_ADDR_LEN];
 
-const uint16_t GOAL_POSITION_ADDR = 116; // Goal position Address. Starting Data Addr
-const uint16_t GOAL_POSITION_LEN = 4; // Goal position Data Length. 
-
-uint8_t do_once = false;
+const uint16_t SR_ADDR_LEN = 5; // Data Length (1+4), Can differ depending on how many address to access. 
+const uint16_t SR_START_ADDR = 224; // Indirect Data1 Address. Starting Data Addr, Can differ Depending on what address to access
 
-typedef struct id_data{
-  int16_t led;
-  // int32_t goal_position[4];
-} __attribute__((packed)) id_data_t;
+// typedef struct id_data{
+//   uint8_t data_param[INDIRECT_ADDR_NUM][2]; 
+// } __attribute__((packed)) id_data_t;
 
 typedef struct sw_data{
-  int16_t led;
-  // int32_t goal_position;
+  int8_t led;
+  int32_t goal_position;
 } __attribute__((packed)) sw_data_t;
 
 typedef struct sr_data{
-  int16_t led;
+  int8_t led;
   int32_t present_position;
 } __attribute__((packed)) sr_data_t;
 
-id_data_t id_data[DXL_ID_CNT];
+// id_data_t id_data[DXL_ID_CNT];
 DYNAMIXEL::InfoIndirectAddressInst_t id_infos;
 DYNAMIXEL::XELInfoIndirectAddress_t info_xels_id[DXL_ID_CNT];
 
@@ -149,8 +109,9 @@ Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
 //This namespace is required to use Control table item names
 using namespace ControlTableItem;
 
-int32_t led_state[2] = {0, 1};
-uint8_t led_index = 0;
+int16_t led_state[2] = {0, 1};
+int32_t position_state[2] = {1024, 2048};
+uint8_t state_index = 0;
 
 void setup() {
   // put your setup code here, to run once:
@@ -166,33 +127,26 @@ void setup() {
   }
   dxl.torqueOn(BROADCAST_ID);
 
-  // IndirectAddress 
-  // dxl.setIndirectAddress(uint8_t dynamixel_id, uint8_t item_index, uint16_t target_indirect_address)
+  ////////////////////////////////////////////////////////////////////////////////////
+  // IndirectAddress                                                                //
   ////////////////////////////////////////////////////////////////////////////////////
   id_infos.packet.p_buf = nullptr;
   id_infos.packet.is_completed = false;
-  id_infos.addr = SW_START_ADDR;
-  id_infos.addr_length = SW_ADDR_LEN;
+  id_infos.addr = ID_START_ADDR;
+  id_infos.addr_length = ID_ADDR_LEN;
   id_infos.p_xels = info_xels_id;
   id_infos.xel_count = 0;
 
-  id_data[0].led = LED_ADDR;
-  id_data[1].led = LED_ADDR;  
-
-  // for(i=0; i<DXL_ID_CNT; i++){
-  //   id_data[0].goal_position[i] = GOAL_POSITION_ADDR + i;
-  //   id_data[1].goal_position[i] = GOAL_POSITION_ADDR + i;
-  // }  
-  
   for(i=0; i<DXL_ID_CNT; i++){
     info_xels_id[i].id = DXL_ID_LIST[i];
-    // info_xels_id[i].p_data = (uint8_t*)&id_data[i].goal_position;
-    info_xels_id[i].p_data = id_data[i].led;
+    // info_xels_id[i].p_data = dxl.uint16_to_uint8(INDIRECT_ADDR_ARRY, INDIRECT_ADDR_NUM);
+    info_xels_id[i].p_data = (uint8_t*)&INDIRECT_ADDR_ARRY;
     id_infos.xel_count++;
   }
   id_infos.is_info_changed = true;
 
-  // Fill the members of structure to syncWrite using internal packet buffer
+  ////////////////////////////////////////////////////////////////////////////////////
+  // Fill the members of structure to syncWrite using internal packet buffer        //
   ////////////////////////////////////////////////////////////////////////////////////
   sw_infos.packet.p_buf = nullptr;
   sw_infos.packet.is_completed = false;
@@ -201,21 +155,23 @@ void setup() {
   sw_infos.p_xels = info_xels_sw;
   sw_infos.xel_count = 0;
 
-  sw_data[0].led = led_state[led_index];
-  sw_data[1].led = led_state[led_index];  
+  sw_data[0].led = led_state[state_index];
+  sw_data[1].led = led_state[state_index];  
 
-  // sw_data[0].goal_position = 0;
-  // sw_data[1].goal_position = 100;
+  sw_data[0].goal_position = position_state[state_index];
+  sw_data[1].goal_position = position_state[state_index];
+
+  // SYNC_WRITE_ARRY
   
   for(i=0; i<DXL_ID_CNT; i++){
     info_xels_sw[i].id = DXL_ID_LIST[i];
-    // info_xels_sw[i].p_data = (uint8_t*)&sw_data[i].goal_position;
     info_xels_sw[i].p_data = (uint8_t*)&sw_data[i].led;
     sw_infos.xel_count++;
   }
   sw_infos.is_info_changed = true;
 
-  // Fill the members of structure to syncRead using external user packet buffer
+  ////////////////////////////////////////////////////////////////////////////////////
+  // Fill the members of structure to syncRead using external user packet buffer    //
   ////////////////////////////////////////////////////////////////////////////////////
   sr_infos.packet.p_buf = user_pkt_buf;
   sr_infos.packet.buf_capacity = user_pkt_buf_cap;
@@ -241,19 +197,27 @@ void loop() {
 
   delay(250);
 
-  // setIndirectAddress //////////////////////////////////////////////////////////////
   ////////////////////////////////////////////////////////////////////////////////////
-
-  DEBUG_SERIAL.print("\n>>>>>> Indirect Address Test : ");
+  // setIndirectAddress                                                             //
+  ////////////////////////////////////////////////////////////////////////////////////
+  DEBUG_SERIAL.print("\n>>>>>>>>>>>>> Indirect Address Test : ");
   DEBUG_SERIAL.println(try_count++);
   if(dxl.setIndirectAddress(&id_infos) == true){
     DEBUG_SERIAL.println("[Indirect Address] Success!!");
     for(i=0; i<id_infos.xel_count; i++){
       DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.println(id_infos.p_xels[i].id);
-      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(id_data[i].led);
-      // DEBUG_SERIAL.print("\t Goal Position: ");DEBUG_SERIAL.println(id_data[i].goal_position);
+      DEBUG_SERIAL.print("\tHEX ADDR[0]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data), HEX);
+      DEBUG_SERIAL.print("\tHEX ADDR[1]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+1), HEX);
+      DEBUG_SERIAL.print("\tHEX ADDR[2]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+2), HEX);
+      DEBUG_SERIAL.print("\tHEX ADDR[3]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+3), HEX);
+      DEBUG_SERIAL.print("\tHEX ADDR[4]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+4), HEX);
+      DEBUG_SERIAL.print("\tHEX ADDR[5]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+5), HEX);
+      DEBUG_SERIAL.print("\tHEX ADDR[6]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+6), HEX);
+      DEBUG_SERIAL.print("\tHEX ADDR[7]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+7), HEX);
+      DEBUG_SERIAL.print("\tHEX ADDR[8]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+8), HEX);
+      DEBUG_SERIAL.print("\tHEX ADDR[9]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+9), HEX);
     }
-  } else{
+  } else {
     DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
     DEBUG_SERIAL.print(dxl.getLastLibErrCode());
   }
@@ -261,15 +225,12 @@ void loop() {
 
   delay(250);
 
-  // syncWrite ///////////////////////////////////////////////////////////////////////
   ////////////////////////////////////////////////////////////////////////////////////
-
+  // syncWrite                                                                      //
+  ////////////////////////////////////////////////////////////////////////////////////
   for(i = 0; i < DXL_ID_CNT; i++){
-    // sw_data[i].goal_position = 100 + sw_data[i].goal_position;
-    // if(sw_data[i].goal_position >= 200){
-    //   sw_data[i].goal_position = 0;
-    // }
-     sw_data[i].led = led_state[led_index];
+    sw_data[i].led = led_state[state_index];
+    sw_data[i].goal_position = position_state[state_index];
   }
   sw_infos.is_info_changed = true;
 
@@ -277,13 +238,22 @@ void loop() {
     DEBUG_SERIAL.println("[SyncWrite] Success!!");
     for(i=0; i<sw_infos.xel_count; i++){
       DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.println(sw_infos.p_xels[i].id);
-      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].led);
+      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].led+0);
+      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+0);
+      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+1);
+      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+2);
+      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+3);        
+      // DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].led+0, HEX);
+      // DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+0, HEX);
+      // DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+1, HEX);
+      // DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+2, HEX);
+      // DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+3, HEX);                        
       // DEBUG_SERIAL.print("\t Goal Position: ");DEBUG_SERIAL.println(sw_data[i].goal_position);
     }
-    if(led_index == 0)
-      led_index = 1;
+    if(state_index == 0)
+      state_index = 1;
     else
-      led_index = 0;
+      state_index = 0;
   }else{
     DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
     DEBUG_SERIAL.print(dxl.getLastLibErrCode());
@@ -292,9 +262,9 @@ void loop() {
 
   delay(250);
 
-  // syncRead ////////////////////////////////////////////////////////////////////////
   ////////////////////////////////////////////////////////////////////////////////////
-
+  // syncRead                                                                       //
+  ////////////////////////////////////////////////////////////////////////////////////
   recv_cnt = dxl.syncRead(&sr_infos);
   if(recv_cnt > 0){
     DEBUG_SERIAL.print("[SyncRead] Success!! Received ID Count: ");
diff --git a/src/utility/master.cpp b/src/utility/master.cpp
index 0a6fec7..f858612 100644
--- a/src/utility/master.cpp
+++ b/src/utility/master.cpp
@@ -1054,18 +1054,16 @@ Master::rxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_t ti
   return p_ret;
 }
 
-
-
 bool 
 Master::setIndirectAddress(InfoIndirectAddressInst_t* p_info)
 {
   bool ret = false;
   DXLLibErrorCode_t err = DXL_LIB_OK;
-  uint8_t i, tx_param[4], param_len = 0;
-  uint8_t data_param[2], data_len = 0;
+  uint8_t i, tx_param[4], param_len = 0, data_len = 0;
   uint8_t* p_packet_buf = nullptr;
   uint16_t packet_buf_cap;
   XELInfoIndirectAddress_t* p_xel;
+  uint8_t data_array[p_info->addr_length];
 
   // Parameter exception handling
   if(p_port_ == nullptr){
@@ -1109,17 +1107,10 @@ Master::setIndirectAddress(InfoIndirectAddressInst_t* p_info)
       if(err == DXL_LIB_OK){
         for(i=0; i<p_info->xel_count; i++){
           p_xel = &p_info->p_xels[i];
+
           err = add_param_to_dxl_packet(&info_tx_packet_, &p_xel->id, 1);
           if(err == DXL_LIB_OK){
-            for(i=0; i<(p_info->addr_length)/2; i++){
-              data_param[data_len++] = p_xel->p_data >> 0;
-              data_param[data_len++] = p_xel->p_data >> 8;
-              err = add_param_to_dxl_packet(&info_tx_packet_, data_param, data_len);
-
-              data_param[0]= 0;
-              data_param[1]= 0;              
-              data_len = 0;              
-            }
+            err = add_param_to_dxl_packet(&info_tx_packet_, p_xel->p_data, p_info->addr_length);
             if(err != DXL_LIB_OK){
               break;
             }
@@ -1150,6 +1141,22 @@ Master::setIndirectAddress(InfoIndirectAddressInst_t* p_info)
   return ret;
 }
 
+// uint8_t* Master::uint16_to_uint8(uint16_t* arr, uint16_t size) {
+//   uint16_t data_arr_len = size * 2;
+//   uint8_t data_arr[data_arr_len];
+//   uint8_t* p_data_arr = (uint8_t*)arr;
+
+//   for(uint8_t i = 0; i<data_arr_len; i++) {
+//     data_arr[i] = *(p_data_arr + i);
+//   }
+
+//   return data_arr;
+// }
+
+
+// uint8_t* Master::uint32_to_uint8(uint32_t* arr) {
+//  TODO
+// }
 
 
 // >> Legacy (Deprecated since v0.4.0)
diff --git a/src/utility/master.h b/src/utility/master.h
index 89e5f4b..6673df2 100644
--- a/src/utility/master.h
+++ b/src/utility/master.h
@@ -135,7 +135,7 @@ typedef struct InfoSyncWriteInst{
 } __attribute__((packed)) InfoSyncWriteInst_t;
 
 typedef struct XELInfoIndirectAddress{
-  uint16_t p_data;
+  uint8_t* p_data;
   uint8_t id;
 } __attribute__((packed)) XELInfoIndirectAddress_t;
 
@@ -221,6 +221,9 @@ class Master
     bool setPort(DXLPortHandler *p_port);
     DXLPortHandler* getPort() const;
 
+    uint8_t* uint16_to_uint8(uint16_t* arr, uint16_t size);
+    uint8_t* uint32_to_uint8(uint32_t* arr, uint16_t size);
+
     /* Instructions */
     uint8_t ping(uint8_t id, uint8_t *p_recv_id_array, uint8_t recv_array_capacity,
       uint32_t timeout_ms = 10);

From 6fa27c504982a31cd0bd838a321d8b0585c3148c Mon Sep 17 00:00:00 2001
From: ashekim <ashekim@robotis.com>
Date: Tue, 12 Apr 2022 16:32:15 +0900
Subject: [PATCH 13/24] indirect address example update

---
 .../indirect_address/indirect_address.ino     | 72 ++++++++-----------
 src/utility/master.cpp                        |  4 +-
 2 files changed, 31 insertions(+), 45 deletions(-)

diff --git a/examples/advanced/indirect_address/indirect_address.ino b/examples/advanced/indirect_address/indirect_address.ino
index cba5bc5..0b78381 100644
--- a/examples/advanced/indirect_address/indirect_address.ino
+++ b/examples/advanced/indirect_address/indirect_address.ino
@@ -73,14 +73,13 @@ const uint16_t ID_START_ADDR = 168; // Indirect Address1 Address. Starting Data
 
 const uint16_t SW_ADDR_LEN = 5; // Data Length (1+4), Can differ depending on how many address to access. 
 const uint16_t SW_START_ADDR = 224; // Indirect Data1 Address. Starting Data Addr, Can differ Depending on what address to access
-uint16_t SYNC_WRITE_ARRY[SW_ADDR_LEN];
 
-const uint16_t SR_ADDR_LEN = 5; // Data Length (1+4), Can differ depending on how many address to access. 
-const uint16_t SR_START_ADDR = 224; // Indirect Data1 Address. Starting Data Addr, Can differ Depending on what address to access
+const uint16_t SR_ADDR_LEN = 4; // Data Length (1+4), Can differ depending on how many address to access. 
+const uint16_t SR_START_ADDR = 132; // Indirect Data1 Address. Starting Data Addr, Can differ Depending on what address to access
 
-// typedef struct id_data{
-//   uint8_t data_param[INDIRECT_ADDR_NUM][2]; 
-// } __attribute__((packed)) id_data_t;
+typedef struct id_data{
+  uint8_t* indirect_addr;
+} __attribute__((packed)) id_data_t;
 
 typedef struct sw_data{
   int8_t led;
@@ -88,11 +87,10 @@ typedef struct sw_data{
 } __attribute__((packed)) sw_data_t;
 
 typedef struct sr_data{
-  int8_t led;
   int32_t present_position;
 } __attribute__((packed)) sr_data_t;
 
-// id_data_t id_data[DXL_ID_CNT];
+id_data_t id_data[DXL_ID_CNT];
 DYNAMIXEL::InfoIndirectAddressInst_t id_infos;
 DYNAMIXEL::XELInfoIndirectAddress_t info_xels_id[DXL_ID_CNT];
 
@@ -109,8 +107,8 @@ Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
 //This namespace is required to use Control table item names
 using namespace ControlTableItem;
 
-int16_t led_state[2] = {0, 1};
-int32_t position_state[2] = {1024, 2048};
+int8_t led_state[2] = {0, 1};
+int32_t position_state[2] = {1000, 1020};
 uint8_t state_index = 0;
 
 void setup() {
@@ -130,6 +128,7 @@ void setup() {
   ////////////////////////////////////////////////////////////////////////////////////
   // IndirectAddress                                                                //
   ////////////////////////////////////////////////////////////////////////////////////
+
   id_infos.packet.p_buf = nullptr;
   id_infos.packet.is_completed = false;
   id_infos.addr = ID_START_ADDR;
@@ -137,10 +136,12 @@ void setup() {
   id_infos.p_xels = info_xels_id;
   id_infos.xel_count = 0;
 
+  id_data[0].indirect_addr = (uint8_t*)&INDIRECT_ADDR_ARRY;
+  id_data[1].indirect_addr = (uint8_t*)&INDIRECT_ADDR_ARRY;
+
   for(i=0; i<DXL_ID_CNT; i++){
     info_xels_id[i].id = DXL_ID_LIST[i];
-    // info_xels_id[i].p_data = dxl.uint16_to_uint8(INDIRECT_ADDR_ARRY, INDIRECT_ADDR_NUM);
-    info_xels_id[i].p_data = (uint8_t*)&INDIRECT_ADDR_ARRY;
+    info_xels_id[i].p_data = id_data[i].indirect_addr;
     id_infos.xel_count++;
   }
   id_infos.is_info_changed = true;
@@ -148,21 +149,19 @@ void setup() {
   ////////////////////////////////////////////////////////////////////////////////////
   // Fill the members of structure to syncWrite using internal packet buffer        //
   ////////////////////////////////////////////////////////////////////////////////////
+
   sw_infos.packet.p_buf = nullptr;
   sw_infos.packet.is_completed = false;
-  sw_infos.addr = SR_START_ADDR;
-  sw_infos.addr_length = SR_ADDR_LEN;
+  sw_infos.addr = SW_START_ADDR;
+  sw_infos.addr_length = SW_ADDR_LEN;
   sw_infos.p_xels = info_xels_sw;
   sw_infos.xel_count = 0;
 
   sw_data[0].led = led_state[state_index];
   sw_data[1].led = led_state[state_index];  
-
   sw_data[0].goal_position = position_state[state_index];
   sw_data[1].goal_position = position_state[state_index];
 
-  // SYNC_WRITE_ARRY
-  
   for(i=0; i<DXL_ID_CNT; i++){
     info_xels_sw[i].id = DXL_ID_LIST[i];
     info_xels_sw[i].p_data = (uint8_t*)&sw_data[i].led;
@@ -173,6 +172,7 @@ void setup() {
   ////////////////////////////////////////////////////////////////////////////////////
   // Fill the members of structure to syncRead using external user packet buffer    //
   ////////////////////////////////////////////////////////////////////////////////////
+
   sr_infos.packet.p_buf = user_pkt_buf;
   sr_infos.packet.buf_capacity = user_pkt_buf_cap;
   sr_infos.packet.is_completed = false;
@@ -200,22 +200,18 @@ void loop() {
   ////////////////////////////////////////////////////////////////////////////////////
   // setIndirectAddress                                                             //
   ////////////////////////////////////////////////////////////////////////////////////
+
   DEBUG_SERIAL.print("\n>>>>>>>>>>>>> Indirect Address Test : ");
   DEBUG_SERIAL.println(try_count++);
   if(dxl.setIndirectAddress(&id_infos) == true){
     DEBUG_SERIAL.println("[Indirect Address] Success!!");
     for(i=0; i<id_infos.xel_count; i++){
-      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.println(id_infos.p_xels[i].id);
-      DEBUG_SERIAL.print("\tHEX ADDR[0]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data), HEX);
-      DEBUG_SERIAL.print("\tHEX ADDR[1]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+1), HEX);
-      DEBUG_SERIAL.print("\tHEX ADDR[2]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+2), HEX);
-      DEBUG_SERIAL.print("\tHEX ADDR[3]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+3), HEX);
-      DEBUG_SERIAL.print("\tHEX ADDR[4]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+4), HEX);
-      DEBUG_SERIAL.print("\tHEX ADDR[5]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+5), HEX);
-      DEBUG_SERIAL.print("\tHEX ADDR[6]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+6), HEX);
-      DEBUG_SERIAL.print("\tHEX ADDR[7]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+7), HEX);
-      DEBUG_SERIAL.print("\tHEX ADDR[8]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+8), HEX);
-      DEBUG_SERIAL.print("\tHEX ADDR[9]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+9), HEX);
+      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(id_infos.p_xels[i].id);
+      DEBUG_SERIAL.print(", ADDR[0]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data));
+      DEBUG_SERIAL.print("\tADDR[2]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+2));      
+      DEBUG_SERIAL.print("\tADDR[4]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+4));
+      DEBUG_SERIAL.print("\tADDR[6]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+6));
+      DEBUG_SERIAL.print("\tADDR[8]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+8));
     }
   } else {
     DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
@@ -228,6 +224,7 @@ void loop() {
   ////////////////////////////////////////////////////////////////////////////////////
   // syncWrite                                                                      //
   ////////////////////////////////////////////////////////////////////////////////////
+
   for(i = 0; i < DXL_ID_CNT; i++){
     sw_data[i].led = led_state[state_index];
     sw_data[i].goal_position = position_state[state_index];
@@ -237,18 +234,9 @@ void loop() {
   if(dxl.syncWrite(&sw_infos) == true){
     DEBUG_SERIAL.println("[SyncWrite] Success!!");
     for(i=0; i<sw_infos.xel_count; i++){
-      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.println(sw_infos.p_xels[i].id);
-      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].led+0);
-      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+0);
-      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+1);
-      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+2);
-      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+3);        
-      // DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].led+0, HEX);
-      // DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+0, HEX);
-      // DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+1, HEX);
-      // DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+2, HEX);
-      // DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sw_data[i].goal_position+3, HEX);                        
-      // DEBUG_SERIAL.print("\t Goal Position: ");DEBUG_SERIAL.println(sw_data[i].goal_position);
+      DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sw_infos.p_xels[i].id);
+      DEBUG_SERIAL.print(", LED: ");DEBUG_SERIAL.println(sw_data[i].led);
+      DEBUG_SERIAL.print("\t Goal Position: ");DEBUG_SERIAL.println(sw_data[i].goal_position);
     }
     if(state_index == 0)
       state_index = 1;
@@ -265,6 +253,7 @@ void loop() {
   ////////////////////////////////////////////////////////////////////////////////////
   // syncRead                                                                       //
   ////////////////////////////////////////////////////////////////////////////////////
+
   recv_cnt = dxl.syncRead(&sr_infos);
   if(recv_cnt > 0){
     DEBUG_SERIAL.print("[SyncRead] Success!! Received ID Count: ");
@@ -272,7 +261,6 @@ void loop() {
     for(i=0; i<recv_cnt; i++){
       DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(sr_infos.p_xels[i].id);
       DEBUG_SERIAL.print(", Error: ");DEBUG_SERIAL.println(sr_infos.p_xels[i].error);
-      DEBUG_SERIAL.print("\t LED: ");DEBUG_SERIAL.println(sr_data[i].led);
       DEBUG_SERIAL.print("\t Present Position: ");DEBUG_SERIAL.println(sr_data[i].present_position);
     }
   }else{
@@ -282,5 +270,5 @@ void loop() {
   DEBUG_SERIAL.println("=======================================================");
 
   digitalWrite(LED_BUILTIN, !digitalRead(LED_BUILTIN));
-  delay(750);
+  delay(250);
 }
diff --git a/src/utility/master.cpp b/src/utility/master.cpp
index f858612..9a91db3 100644
--- a/src/utility/master.cpp
+++ b/src/utility/master.cpp
@@ -1059,11 +1059,10 @@ Master::setIndirectAddress(InfoIndirectAddressInst_t* p_info)
 {
   bool ret = false;
   DXLLibErrorCode_t err = DXL_LIB_OK;
-  uint8_t i, tx_param[4], param_len = 0, data_len = 0;
+  uint8_t i, tx_param[4], param_len = 0;
   uint8_t* p_packet_buf = nullptr;
   uint16_t packet_buf_cap;
   XELInfoIndirectAddress_t* p_xel;
-  uint8_t data_array[p_info->addr_length];
 
   // Parameter exception handling
   if(p_port_ == nullptr){
@@ -1107,7 +1106,6 @@ Master::setIndirectAddress(InfoIndirectAddressInst_t* p_info)
       if(err == DXL_LIB_OK){
         for(i=0; i<p_info->xel_count; i++){
           p_xel = &p_info->p_xels[i];
-
           err = add_param_to_dxl_packet(&info_tx_packet_, &p_xel->id, 1);
           if(err == DXL_LIB_OK){
             err = add_param_to_dxl_packet(&info_tx_packet_, p_xel->p_data, p_info->addr_length);

From 34d10f0aa7885a68cb4613902d060ec3b6731412 Mon Sep 17 00:00:00 2001
From: ashekim <ashekim@robotis.com>
Date: Wed, 13 Apr 2022 11:28:35 +0900
Subject: [PATCH 14/24] Indirect Address feature development

---
 .../indirect_address/indirect_address.ino     |  28 +++--
 src/utility/master.cpp                        | 102 ------------------
 src/utility/master.h                          |  15 ---
 3 files changed, 17 insertions(+), 128 deletions(-)

diff --git a/examples/advanced/indirect_address/indirect_address.ino b/examples/advanced/indirect_address/indirect_address.ino
index 0b78381..8cfb529 100644
--- a/examples/advanced/indirect_address/indirect_address.ino
+++ b/examples/advanced/indirect_address/indirect_address.ino
@@ -74,8 +74,8 @@ const uint16_t ID_START_ADDR = 168; // Indirect Address1 Address. Starting Data
 const uint16_t SW_ADDR_LEN = 5; // Data Length (1+4), Can differ depending on how many address to access. 
 const uint16_t SW_START_ADDR = 224; // Indirect Data1 Address. Starting Data Addr, Can differ Depending on what address to access
 
-const uint16_t SR_ADDR_LEN = 4; // Data Length (1+4), Can differ depending on how many address to access. 
-const uint16_t SR_START_ADDR = 132; // Indirect Data1 Address. Starting Data Addr, Can differ Depending on what address to access
+const uint16_t SR_ADDR_LEN = 1; // Data Length 4, Can differ depending on how many address to access. 
+const uint16_t SR_START_ADDR = 11; // Present Position Address. Starting Data Addr, Can differ Depending on what address to access
 
 typedef struct id_data{
   uint8_t* indirect_addr;
@@ -91,8 +91,8 @@ typedef struct sr_data{
 } __attribute__((packed)) sr_data_t;
 
 id_data_t id_data[DXL_ID_CNT];
-DYNAMIXEL::InfoIndirectAddressInst_t id_infos;
-DYNAMIXEL::XELInfoIndirectAddress_t info_xels_id[DXL_ID_CNT];
+DYNAMIXEL::InfoSyncWriteInst_t id_infos;
+DYNAMIXEL::XELInfoSyncWrite_t info_xels_id[DXL_ID_CNT];
 
 sw_data_t sw_data[DXL_ID_CNT];
 DYNAMIXEL::InfoSyncWriteInst_t sw_infos;
@@ -108,7 +108,7 @@ Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
 using namespace ControlTableItem;
 
 int8_t led_state[2] = {0, 1};
-int32_t position_state[2] = {1000, 1020};
+int32_t position_state[2] = {1024, 2048};
 uint8_t state_index = 0;
 
 void setup() {
@@ -121,7 +121,7 @@ void setup() {
   
   for(i=0; i<DXL_ID_CNT; i++){
     dxl.torqueOff(DXL_ID_LIST[i]);
-    dxl.setOperatingMode(DXL_ID_LIST[i], OP_VELOCITY);
+    dxl.setOperatingMode(DXL_ID_LIST[i], OP_POSITION);
   }
   dxl.torqueOn(BROADCAST_ID);
 
@@ -138,6 +138,7 @@ void setup() {
 
   id_data[0].indirect_addr = (uint8_t*)&INDIRECT_ADDR_ARRY;
   id_data[1].indirect_addr = (uint8_t*)&INDIRECT_ADDR_ARRY;
+  id_data[2].indirect_addr = (uint8_t*)&INDIRECT_ADDR_ARRY;
 
   for(i=0; i<DXL_ID_CNT; i++){
     info_xels_id[i].id = DXL_ID_LIST[i];
@@ -203,15 +204,20 @@ void loop() {
 
   DEBUG_SERIAL.print("\n>>>>>>>>>>>>> Indirect Address Test : ");
   DEBUG_SERIAL.println(try_count++);
-  if(dxl.setIndirectAddress(&id_infos) == true){
+  if(dxl.syncWrite(&id_infos) == true){
     DEBUG_SERIAL.println("[Indirect Address] Success!!");
     for(i=0; i<id_infos.xel_count; i++){
       DEBUG_SERIAL.print("  ID: ");DEBUG_SERIAL.print(id_infos.p_xels[i].id);
       DEBUG_SERIAL.print(", ADDR[0]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data));
-      DEBUG_SERIAL.print("\tADDR[2]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+2));      
-      DEBUG_SERIAL.print("\tADDR[4]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+4));
-      DEBUG_SERIAL.print("\tADDR[6]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+6));
-      DEBUG_SERIAL.print("\tADDR[8]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+8));
+      DEBUG_SERIAL.print("\t ADDR[1]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+1));
+      DEBUG_SERIAL.print("\t ADDR[2]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+2));      
+      DEBUG_SERIAL.print("\t ADDR[3]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+3));
+      DEBUG_SERIAL.print("\t ADDR[4]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+4));
+      DEBUG_SERIAL.print("\t ADDR[5]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+5));
+      DEBUG_SERIAL.print("\t ADDR[6]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+6));
+      DEBUG_SERIAL.print("\t ADDR[7]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+7));
+      DEBUG_SERIAL.print("\t ADDR[8]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+8));
+      DEBUG_SERIAL.print("\t ADDR[9]: ");DEBUG_SERIAL.println(*(info_xels_id[i].p_data+9));      
     }
   } else {
     DEBUG_SERIAL.print("[SyncWrite] Fail, Lib error code: ");
diff --git a/src/utility/master.cpp b/src/utility/master.cpp
index 9a91db3..ab8d6ba 100644
--- a/src/utility/master.cpp
+++ b/src/utility/master.cpp
@@ -1054,108 +1054,6 @@ Master::rxStatusPacket(uint8_t* p_param_buf, uint16_t param_buf_cap, uint32_t ti
   return p_ret;
 }
 
-bool 
-Master::setIndirectAddress(InfoIndirectAddressInst_t* p_info)
-{
-  bool ret = false;
-  DXLLibErrorCode_t err = DXL_LIB_OK;
-  uint8_t i, tx_param[4], param_len = 0;
-  uint8_t* p_packet_buf = nullptr;
-  uint16_t packet_buf_cap;
-  XELInfoIndirectAddress_t* p_xel;
-
-  // Parameter exception handling
-  if(p_port_ == nullptr){
-    err = DXL_LIB_ERROR_NULLPTR;
-  }else if(p_port_->getOpenState() != true){
-    err = DXL_LIB_ERROR_PORT_NOT_OPEN;
-  }else if(protocol_ver_idx_ != 2 && protocol_ver_idx_ != 1){
-    err = DXL_LIB_ERROR_NOT_SUPPORTED;
-  }
-  if(err != DXL_LIB_OK){
-    last_lib_err_ = err;
-    return false;
-  }
-
-  if(p_info->packet.p_buf != nullptr){
-    p_packet_buf = p_info->packet.p_buf;
-    packet_buf_cap = p_info->packet.buf_capacity;
-  }else{
-    p_packet_buf = p_packet_buf_;
-    packet_buf_cap = packet_buf_capacity_;
-  }
-
-  if(p_info->packet.p_buf == nullptr && info_tx_packet_.inst_idx != DXL_INST_SYNC_WRITE){
-    p_info->packet.is_completed = false;
-  }
-
-  if(p_info->packet.is_completed == false || p_info->is_info_changed == true){
-    err = begin_make_dxl_packet(&info_tx_packet_, DXL_BROADCAST_ID, protocol_ver_idx_,
-      DXL_INST_SYNC_WRITE, 0, p_packet_buf, packet_buf_cap);
-    if(err == DXL_LIB_OK){
-      if(protocol_ver_idx_ == 2){
-        tx_param[param_len++] = p_info->addr >> 0;
-        tx_param[param_len++] = p_info->addr >> 8;
-        tx_param[param_len++] = p_info->addr_length >> 0;
-        tx_param[param_len++] = p_info->addr_length >> 8;
-      }else if(protocol_ver_idx_ == 1){
-        tx_param[param_len++] = p_info->addr & 0xFF;
-        tx_param[param_len++] = p_info->addr_length & 0xFF;
-      }
-      err = add_param_to_dxl_packet(&info_tx_packet_, tx_param, param_len);
-      if(err == DXL_LIB_OK){
-        for(i=0; i<p_info->xel_count; i++){
-          p_xel = &p_info->p_xels[i];
-          err = add_param_to_dxl_packet(&info_tx_packet_, &p_xel->id, 1);
-          if(err == DXL_LIB_OK){
-            err = add_param_to_dxl_packet(&info_tx_packet_, p_xel->p_data, p_info->addr_length);
-            if(err != DXL_LIB_OK){
-              break;
-            }
-          }else{
-            break;
-          }
-        }
-        if(err == DXL_LIB_OK){
-          err = end_make_dxl_packet(&info_tx_packet_);
-          if(err == DXL_LIB_OK){
-            p_info->packet.gen_length = info_tx_packet_.generated_packet_length;
-            p_info->packet.is_completed = true;      
-            p_info->is_info_changed = false;
-          }
-        }
-      }
-    }
-  }
-
-  if(err == DXL_LIB_OK){
-    p_port_->write(p_packet_buf, p_info->packet.gen_length);
-    ret = true;
-  }else{
-    p_info->packet.is_completed = false;
-  }
-  last_lib_err_ = err;
-
-  return ret;
-}
-
-// uint8_t* Master::uint16_to_uint8(uint16_t* arr, uint16_t size) {
-//   uint16_t data_arr_len = size * 2;
-//   uint8_t data_arr[data_arr_len];
-//   uint8_t* p_data_arr = (uint8_t*)arr;
-
-//   for(uint8_t i = 0; i<data_arr_len; i++) {
-//     data_arr[i] = *(p_data_arr + i);
-//   }
-
-//   return data_arr;
-// }
-
-
-// uint8_t* Master::uint32_to_uint8(uint32_t* arr) {
-//  TODO
-// }
-
 
 // >> Legacy (Deprecated since v0.4.0)
 bool Master::syncRead(const ParamForSyncReadInst_t &param_info, RecvInfoFromStatusInst_t &recv_info, uint32_t timeout_ms)
diff --git a/src/utility/master.h b/src/utility/master.h
index 6673df2..5d848a6 100644
--- a/src/utility/master.h
+++ b/src/utility/master.h
@@ -134,20 +134,6 @@ typedef struct InfoSyncWriteInst{
   InfoSyncBulkBuffer_t packet;
 } __attribute__((packed)) InfoSyncWriteInst_t;
 
-typedef struct XELInfoIndirectAddress{
-  uint8_t* p_data;
-  uint8_t id;
-} __attribute__((packed)) XELInfoIndirectAddress_t;
-
-typedef struct InfoIndirectAddressInst{
-  uint16_t addr;
-  uint16_t addr_length;
-  XELInfoIndirectAddress_t* p_xels;
-  uint8_t xel_count;
-  bool is_info_changed;
-  InfoSyncBulkBuffer_t packet;
-} __attribute__((packed)) InfoIndirectAddressInst_t;
-
 
 /* Bulk Instructions */
 typedef struct XELInfoBulkRead{
@@ -245,7 +231,6 @@ class Master
     bool syncWrite(InfoSyncWriteInst_t* p_info);
     uint8_t bulkRead(InfoBulkReadInst_t* p_info, uint32_t timeout_ms = 10);
     bool bulkWrite(InfoBulkWriteInst_t* p_info);
-    bool setIndirectAddress(InfoIndirectAddressInst_t* p_info);
 
     uint8_t getLastStatusPacketError() const;
     

From 7edcedb554e8b5a835b831be270cc1c210e73423 Mon Sep 17 00:00:00 2001
From: ashekim <ashekim@robotis.com>
Date: Wed, 13 Apr 2022 11:56:40 +0900
Subject: [PATCH 15/24] modified parameter

---
 examples/advanced/indirect_address/indirect_address.ino | 9 ++++-----
 1 file changed, 4 insertions(+), 5 deletions(-)

diff --git a/examples/advanced/indirect_address/indirect_address.ino b/examples/advanced/indirect_address/indirect_address.ino
index 8cfb529..731a195 100644
--- a/examples/advanced/indirect_address/indirect_address.ino
+++ b/examples/advanced/indirect_address/indirect_address.ino
@@ -74,8 +74,8 @@ const uint16_t ID_START_ADDR = 168; // Indirect Address1 Address. Starting Data
 const uint16_t SW_ADDR_LEN = 5; // Data Length (1+4), Can differ depending on how many address to access. 
 const uint16_t SW_START_ADDR = 224; // Indirect Data1 Address. Starting Data Addr, Can differ Depending on what address to access
 
-const uint16_t SR_ADDR_LEN = 1; // Data Length 4, Can differ depending on how many address to access. 
-const uint16_t SR_START_ADDR = 11; // Present Position Address. Starting Data Addr, Can differ Depending on what address to access
+const uint16_t SR_ADDR_LEN = 4; // Data Length 4, Can differ depending on how many address to access. 
+const uint16_t SR_START_ADDR = 132; // Present Position Address. Starting Data Addr, Can differ Depending on what address to access
 
 typedef struct id_data{
   uint8_t* indirect_addr;
@@ -108,7 +108,7 @@ Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
 using namespace ControlTableItem;
 
 int8_t led_state[2] = {0, 1};
-int32_t position_state[2] = {1024, 2048};
+int32_t position_state[2] = {1024, 1536};
 uint8_t state_index = 0;
 
 void setup() {
@@ -138,7 +138,6 @@ void setup() {
 
   id_data[0].indirect_addr = (uint8_t*)&INDIRECT_ADDR_ARRY;
   id_data[1].indirect_addr = (uint8_t*)&INDIRECT_ADDR_ARRY;
-  id_data[2].indirect_addr = (uint8_t*)&INDIRECT_ADDR_ARRY;
 
   for(i=0; i<DXL_ID_CNT; i++){
     info_xels_id[i].id = DXL_ID_LIST[i];
@@ -254,7 +253,7 @@ void loop() {
   }
   DEBUG_SERIAL.println();
 
-  delay(250);
+  delay(500);
 
   ////////////////////////////////////////////////////////////////////////////////////
   // syncRead                                                                       //

From 0070af3979db4e2ae37ccae40e27c42a1375f9c1 Mon Sep 17 00:00:00 2001
From: ROBOTIS-Ashe <61770300+ashekim@users.noreply.github.com>
Date: Wed, 13 Apr 2022 17:28:14 +0900
Subject: [PATCH 16/24] Update master.h

---
 src/utility/master.h | 4 +---
 1 file changed, 1 insertion(+), 3 deletions(-)

diff --git a/src/utility/master.h b/src/utility/master.h
index d80c171..5fa819e 100644
--- a/src/utility/master.h
+++ b/src/utility/master.h
@@ -222,8 +222,6 @@ class Master
     bool setPort(DXLPortHandler *p_port);
     DXLPortHandler* getPort() const;
 
-    uint8_t* uint16_to_uint8(uint16_t* arr, uint16_t size);
-    uint8_t* uint32_to_uint8(uint32_t* arr, uint16_t size);
 
     /* Instructions */
     uint8_t ping(uint8_t id, uint8_t *p_recv_id_array, uint8_t recv_array_capacity,
@@ -290,4 +288,4 @@ class Master
 typedef DYNAMIXEL::InfoFromPing_t XelInfoFromPing_t;
 
 
-#endif /* DYNAMIXEL_MASTER_HPP_ */
\ No newline at end of file
+#endif /* DYNAMIXEL_MASTER_HPP_ */

From b745e7f93aaae055dbd0efa18fcc9e0e24601a7e Mon Sep 17 00:00:00 2001
From: ROBOTIS-Will <willson@robotis.com>
Date: Thu, 14 Apr 2022 11:45:39 +0900
Subject: [PATCH 17/24] add delay for FET

Signed-off-by: ROBOTIS-Will <willson@robotis.com>
---
 examples/basic/position_mode/position_mode.ino | 2 +-
 src/utility/port_handler.cpp                   | 1 +
 2 files changed, 2 insertions(+), 1 deletion(-)

diff --git a/examples/basic/position_mode/position_mode.ino b/examples/basic/position_mode/position_mode.ino
index ed67889..37022cb 100644
--- a/examples/basic/position_mode/position_mode.ino
+++ b/examples/basic/position_mode/position_mode.ino
@@ -93,7 +93,7 @@ void loop() {
   int i_present_position = 0;
   float f_present_position = 0.0;
 
-  while (abs(512 - i_present_position) > 10)
+  while (abs(4000 - i_present_position) > 10)
   {
     f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
     i_present_position = dxl.getPresentPosition(DXL_ID);
diff --git a/src/utility/port_handler.cpp b/src/utility/port_handler.cpp
index 7cfb118..0e15116 100644
--- a/src/utility/port_handler.cpp
+++ b/src/utility/port_handler.cpp
@@ -39,6 +39,7 @@ void SerialPortHandler::begin(unsigned long baud)
   if(port_ == Serial1 && getOpenState() == false){
     pinMode(BDPIN_DXL_PWR_EN, OUTPUT);
     digitalWrite(BDPIN_DXL_PWR_EN, HIGH);
+    delay(300); // Wait for the FET to turn on.
   }
 #elif defined(ARDUINO_OpenCR)
   if(port_ == Serial3 && getOpenState() == false){

From 36ac1a579e97bd9d7240b7c1f49289f475040f46 Mon Sep 17 00:00:00 2001
From: Legacy Robotics <48897932+LegacyMecha@users.noreply.github.com>
Date: Wed, 20 Apr 2022 12:25:21 -0700
Subject: [PATCH 18/24] Turn off all colors for Pros

Using "ledOff" on Pros should turn all colors off. If Green or Blue is on, they also should be turned off.
---
 src/Dynamixel2Arduino.cpp | 4 ++++
 1 file changed, 4 insertions(+)

diff --git a/src/Dynamixel2Arduino.cpp b/src/Dynamixel2Arduino.cpp
index 7ce2e71..dc53fdf 100644
--- a/src/Dynamixel2Arduino.cpp
+++ b/src/Dynamixel2Arduino.cpp
@@ -557,6 +557,10 @@ bool Dynamixel2Arduino::setLedState(uint8_t id, bool state)
     case PRO_M42P_010_S260_R:
     case PRO_M54P_040_S250_R:
     case PRO_M54P_060_S250_R:
+          if (state == false) {
+              writeControlTableItem(ControlTableItem::LED_GREEN, id, state);
+              writeControlTableItem(ControlTableItem::LED_BLUE, id, state);
+          }
       ret = writeControlTableItem(ControlTableItem::LED_RED, id, state);
       break;
 

From 2800ae9dacb6949ddacff65131ab100a1af0b26b Mon Sep 17 00:00:00 2001
From: ROBOTIS-Will <willson@robotis.com>
Date: Fri, 29 Apr 2022 15:05:30 +0900
Subject: [PATCH 19/24] add tx_en delay

Signed-off-by: ROBOTIS-Will <willson@robotis.com>
---
 src/utility/port_handler.cpp | 4 ++++
 src/utility/port_handler.h   | 1 +
 2 files changed, 5 insertions(+)

diff --git a/src/utility/port_handler.cpp b/src/utility/port_handler.cpp
index 16016ab..e3efb46 100644
--- a/src/utility/port_handler.cpp
+++ b/src/utility/port_handler.cpp
@@ -45,6 +45,7 @@ void SerialPortHandler::begin(unsigned long baud)
 
   baud_ = baud;
   port_.begin(baud_);
+  mbedTXdelayus = 24000000 / baud;
   
   if(dir_pin_ != -1){
     pinMode(dir_pin_, OUTPUT);
@@ -107,6 +108,9 @@ size_t SerialPortHandler::write(uint8_t *buf, size_t len)
 
   if(dir_pin_ != -1){
     port_.flush();
+#if defined(ARDUINO_ARCH_MBED)
+  delayMicroseconds(mbedTXdelayus);
+#endif
     digitalWrite(dir_pin_, LOW);
     while(digitalRead(dir_pin_) != LOW);
   }
diff --git a/src/utility/port_handler.h b/src/utility/port_handler.h
index 6a7e6aa..2256d63 100644
--- a/src/utility/port_handler.h
+++ b/src/utility/port_handler.h
@@ -61,6 +61,7 @@ class SerialPortHandler : public DXLPortHandler
     HardwareSerial& port_;
     const int dir_pin_;
     unsigned long baud_;
+    unsigned int mbedTXdelayus;
 };
 
 

From 635380ebd886a1e34d392abd0284a816df1a9c54 Mon Sep 17 00:00:00 2001
From: ROBOTIS-Will <willson@robotis.com>
Date: Fri, 6 May 2022 18:15:33 +0900
Subject: [PATCH 20/24] add openrb example

Signed-off-by: ROBOTIS-Will <willson@robotis.com>
---
 .../DEPRECATED_bulk_read_write_raw.ino                          | 2 +-
 .../DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino       | 2 +-
 .../DEPRECATED_sync_read_write_raw.ino                          | 2 +-
 .../add_custom_SerialPortHandler.ino                            | 2 +-
 examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino   | 2 +-
 examples/advanced/fast_sync_read/fast_sync_read.ino             | 2 +-
 .../operating_mode_advanced/operating_mode_advanced.ino         | 2 +-
 .../read_write_ControlTableItem/read_write_ControlTableItem.ino | 2 +-
 examples/advanced/slave/slave.ino                               | 2 +-
 examples/advanced/slave_callback/slave_callback.ino             | 2 +-
 .../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                            | 2 +-
 examples/basic/copy_eeprom_x/copy_eeprom_x.ino                  | 2 +-
 examples/basic/current_mode/current_mode.ino                    | 2 +-
 examples/basic/current_position_mode/current_position_mode.ino  | 2 +-
 examples/basic/id/id.ino                                        | 2 +-
 examples/basic/led/led.ino                                      | 2 +-
 examples/basic/operation_mode/operation_mode.ino                | 2 +-
 examples/basic/ping/ping.ino                                    | 2 +-
 examples/basic/position_mode/position_mode.ino                  | 2 +-
 .../profile_velocity_acceleration.ino                           | 2 +-
 examples/basic/pwm_mode/pwm_mode.ino                            | 2 +-
 examples/basic/scan_dynamixel/scan_dynamixel.ino                | 2 +-
 examples/basic/torque/torque.ino                                | 2 +-
 examples/basic/velocity_mode/velocity_mode.ino                  | 2 +-
 examples/blender/openmanipulator_x/openmanipulator_x.ino        | 2 +-
 examples/dynamixel_protocol/factory_reset/factory_reset.ino     | 2 +-
 examples/dynamixel_protocol/ping/ping.ino                       | 2 +-
 examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino           | 2 +-
 examples/dynamixel_protocol/read_x/read_x.ino                   | 2 +-
 examples/dynamixel_protocol/reboot/reboot.ino                   | 2 +-
 examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino         | 2 +-
 examples/dynamixel_protocol/write_x/write_x.ino                 | 2 +-
 34 files changed, 34 insertions(+), 34 deletions(-)

diff --git a/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino b/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino
index 5ac0eb3..2d63a8c 100644
--- a/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino
+++ b/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino
@@ -45,7 +45,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino b/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino
index 2df4edf..9ec920b 100644
--- a/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino
+++ b/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino
@@ -45,7 +45,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino b/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino
index 9c34a74..81b2bf0 100644
--- a/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino
+++ b/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino
@@ -45,7 +45,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino b/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
index 6b05d25..b4d267d 100644
--- a/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
+++ b/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino b/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino
index dcf44d0..609ce86 100644
--- a/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino
+++ b/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/fast_sync_read/fast_sync_read.ino b/examples/advanced/fast_sync_read/fast_sync_read.ino
index 4a13fe6..9fec2aa 100644
--- a/examples/advanced/fast_sync_read/fast_sync_read.ino
+++ b/examples/advanced/fast_sync_read/fast_sync_read.ino
@@ -43,7 +43,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino b/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
index 4ce881f..ce9c3a4 100644
--- a/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
+++ b/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
index d8759e0..b3564b9 100644
--- a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
+++ b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
@@ -140,7 +140,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/slave/slave.ino b/examples/advanced/slave/slave.ino
index fba76a4..d1e6297 100644
--- a/examples/advanced/slave/slave.ino
+++ b/examples/advanced/slave/slave.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/advanced/slave_callback/slave_callback.ino b/examples/advanced/slave_callback/slave_callback.ino
index b287d95..a8bf52a 100644
--- a/examples/advanced/slave_callback/slave_callback.ino
+++ b/examples/advanced/slave_callback/slave_callback.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
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 f956335..492112e 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
@@ -49,7 +49,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
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 0b11183..d9eaf11 100644
--- a/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
+++ b/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/baudrate/baudrate.ino b/examples/basic/baudrate/baudrate.ino
index 87aeff1..be70708 100644
--- a/examples/basic/baudrate/baudrate.ino
+++ b/examples/basic/baudrate/baudrate.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/copy_eeprom_x/copy_eeprom_x.ino b/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
index f9287f7..60d0fb9 100644
--- a/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
+++ b/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/current_mode/current_mode.ino b/examples/basic/current_mode/current_mode.ino
index 3146e55..9fd21f5 100644
--- a/examples/basic/current_mode/current_mode.ino
+++ b/examples/basic/current_mode/current_mode.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/current_position_mode/current_position_mode.ino b/examples/basic/current_position_mode/current_position_mode.ino
index 3714e97..6cc57e9 100644
--- a/examples/basic/current_position_mode/current_position_mode.ino
+++ b/examples/basic/current_position_mode/current_position_mode.ino
@@ -45,7 +45,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/id/id.ino b/examples/basic/id/id.ino
index 41504f4..9d47599 100644
--- a/examples/basic/id/id.ino
+++ b/examples/basic/id/id.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/led/led.ino b/examples/basic/led/led.ino
index cf188ef..e283f4d 100644
--- a/examples/basic/led/led.ino
+++ b/examples/basic/led/led.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/operation_mode/operation_mode.ino b/examples/basic/operation_mode/operation_mode.ino
index f68f80d..f9efa6c 100644
--- a/examples/basic/operation_mode/operation_mode.ino
+++ b/examples/basic/operation_mode/operation_mode.ino
@@ -51,7 +51,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/ping/ping.ino b/examples/basic/ping/ping.ino
index aec1744..1a19316 100644
--- a/examples/basic/ping/ping.ino
+++ b/examples/basic/ping/ping.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/position_mode/position_mode.ino b/examples/basic/position_mode/position_mode.ino
index 37022cb..98fb5eb 100644
--- a/examples/basic/position_mode/position_mode.ino
+++ b/examples/basic/position_mode/position_mode.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
index d67e2b4..0ecf0f8 100644
--- a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
+++ b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
@@ -46,7 +46,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/pwm_mode/pwm_mode.ino b/examples/basic/pwm_mode/pwm_mode.ino
index 13fc455..e94b6ac 100644
--- a/examples/basic/pwm_mode/pwm_mode.ino
+++ b/examples/basic/pwm_mode/pwm_mode.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/scan_dynamixel/scan_dynamixel.ino b/examples/basic/scan_dynamixel/scan_dynamixel.ino
index 80607b6..5fb8f43 100644
--- a/examples/basic/scan_dynamixel/scan_dynamixel.ino
+++ b/examples/basic/scan_dynamixel/scan_dynamixel.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/torque/torque.ino b/examples/basic/torque/torque.ino
index af2ccad..462b9de 100644
--- a/examples/basic/torque/torque.ino
+++ b/examples/basic/torque/torque.ino
@@ -45,7 +45,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/basic/velocity_mode/velocity_mode.ino b/examples/basic/velocity_mode/velocity_mode.ino
index 98cbeef..d322d73 100644
--- a/examples/basic/velocity_mode/velocity_mode.ino
+++ b/examples/basic/velocity_mode/velocity_mode.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/blender/openmanipulator_x/openmanipulator_x.ino b/examples/blender/openmanipulator_x/openmanipulator_x.ino
index a33f92f..de7a15d 100644
--- a/examples/blender/openmanipulator_x/openmanipulator_x.ino
+++ b/examples/blender/openmanipulator_x/openmanipulator_x.ino
@@ -50,7 +50,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/factory_reset/factory_reset.ino b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
index c5e5fa3..95c7e3b 100644
--- a/examples/dynamixel_protocol/factory_reset/factory_reset.ino
+++ b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/ping/ping.ino b/examples/dynamixel_protocol/ping/ping.ino
index a111627..2aef48f 100644
--- a/examples/dynamixel_protocol/ping/ping.ino
+++ b/examples/dynamixel_protocol/ping/ping.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino b/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
index 4059e35..28b30ac 100644
--- a/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
+++ b/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/read_x/read_x.ino b/examples/dynamixel_protocol/read_x/read_x.ino
index 02e073c..2c25d4b 100644
--- a/examples/dynamixel_protocol/read_x/read_x.ino
+++ b/examples/dynamixel_protocol/read_x/read_x.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/reboot/reboot.ino b/examples/dynamixel_protocol/reboot/reboot.ino
index 47ff513..0c15452 100644
--- a/examples/dynamixel_protocol/reboot/reboot.ino
+++ b/examples/dynamixel_protocol/reboot/reboot.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino b/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
index 36005ca..a1596e8 100644
--- a/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
+++ b/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
diff --git a/examples/dynamixel_protocol/write_x/write_x.ino b/examples/dynamixel_protocol/write_x/write_x.ino
index 4aaab18..50b0e9e 100644
--- a/examples/dynamixel_protocol/write_x/write_x.ino
+++ b/examples/dynamixel_protocol/write_x/write_x.ino
@@ -41,7 +41,7 @@
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
   const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
-#elif defined(ARDUINO_OpenRB)  // When using official ROBOTIS OpenCM-X MKR board.
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial

From fc80b17e772881fa0bfdc4315b0c9f7f25dca44b Mon Sep 17 00:00:00 2001
From: Will Son <willson@robotis.com>
Date: Tue, 10 May 2022 11:35:21 +0900
Subject: [PATCH 21/24] update example for OpenRB

Signed-off-by: Will Son <willson@robotis.com>
---
 .../DEPRECATED_bulk_read_write_raw.ino        | 13 ++++----
 .../DEPRECATED_sync_bulk_raw.ino              | 13 ++++----
 .../DEPRECATED_sync_read_write_raw.ino        | 13 ++++----
 .../add_custom_SerialPortHandler.ino          | 13 ++++----
 .../bulk_read_write_raw.ino                   | 13 ++++----
 .../fast_sync_read/fast_sync_read.ino         | 13 ++++----
 .../operating_mode_advanced.ino               | 13 ++++----
 .../read_write_ControlTableItem.ino           | 13 ++++----
 examples/advanced/slave/slave.ino             | 13 ++++----
 .../slave_callback/slave_callback.ino         | 13 ++++----
 .../sync_read_write_position.ino              | 13 ++++----
 .../sync_read_write_velocity.ino              | 13 ++++----
 examples/basic/baudrate/baudrate.ino          | 13 ++++----
 .../basic/copy_eeprom_x/copy_eeprom_x.ino     | 13 ++++----
 examples/basic/current_mode/current_mode.ino  | 13 ++++----
 .../current_position_mode.ino                 | 13 ++++----
 examples/basic/id/id.ino                      | 13 ++++----
 examples/basic/led/led.ino                    | 13 ++++----
 .../basic/operation_mode/operation_mode.ino   | 13 ++++----
 examples/basic/ping/ping.ino                  | 13 ++++----
 .../basic/position_mode/position_mode.ino     | 31 +++++++++----------
 .../profile_velocity_acceleration.ino         | 13 ++++----
 examples/basic/pwm_mode/pwm_mode.ino          | 13 ++++----
 .../basic/scan_dynamixel/scan_dynamixel.ino   | 13 ++++----
 examples/basic/torque/torque.ino              | 13 ++++----
 .../basic/velocity_mode/velocity_mode.ino     | 13 ++++----
 .../openmanipulator_x/openmanipulator_x.ino   | 13 ++++----
 .../factory_reset/factory_reset.ino           | 13 ++++----
 examples/dynamixel_protocol/ping/ping.ino     | 13 ++++----
 .../read_ax_mx/read_ax_mx.ino                 | 13 ++++----
 examples/dynamixel_protocol/read_x/read_x.ino | 13 ++++----
 examples/dynamixel_protocol/reboot/reboot.ino | 13 ++++----
 .../write_ax_mx/write_ax_mx.ino               | 13 ++++----
 .../dynamixel_protocol/write_x/write_x.ino    | 13 ++++----
 34 files changed, 246 insertions(+), 214 deletions(-)

diff --git a/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino b/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino
index 2d63a8c..3842b68 100644
--- a/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino
+++ b/examples/advanced/DEPRECATED_bulk_read_write_raw/DEPRECATED_bulk_read_write_raw.ino
@@ -26,33 +26,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 /* XelInfoForBulkReadParam_t
diff --git a/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino b/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino
index 9ec920b..4cb058d 100644
--- a/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino
+++ b/examples/advanced/DEPRECATED_sync_bulk_raw/DEPRECATED_sync_bulk_raw.ino
@@ -26,33 +26,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 /* ParamForSyncReadInst_t
diff --git a/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino b/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino
index 81b2bf0..65ef9a4 100644
--- a/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino
+++ b/examples/advanced/DEPRECATED_sync_read_write_raw/DEPRECATED_sync_read_write_raw.ino
@@ -26,33 +26,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 /* ParamForSyncReadInst_t
diff --git a/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino b/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
index b4d267d..772b441 100644
--- a/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
+++ b/examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino b/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino
index 609ce86..8b40f53 100644
--- a/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino
+++ b/examples/advanced/bulk_read_write_raw/bulk_read_write_raw.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/advanced/fast_sync_read/fast_sync_read.ino b/examples/advanced/fast_sync_read/fast_sync_read.ino
index 9fec2aa..9b1080e 100644
--- a/examples/advanced/fast_sync_read/fast_sync_read.ino
+++ b/examples/advanced/fast_sync_read/fast_sync_read.ino
@@ -24,33 +24,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 #define DXL_MOVING_STATUS_THRESHOLD  10
 
diff --git a/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino b/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
index ce9c3a4..a154e1d 100644
--- a/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
+++ b/examples/advanced/operating_mode_advanced/operating_mode_advanced.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
index b3564b9..238ac95 100644
--- a/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
+++ b/examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino
@@ -121,33 +121,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 
diff --git a/examples/advanced/slave/slave.ino b/examples/advanced/slave/slave.ino
index d1e6297..51e5938 100644
--- a/examples/advanced/slave/slave.ino
+++ b/examples/advanced/slave/slave.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/advanced/slave_callback/slave_callback.ino b/examples/advanced/slave_callback/slave_callback.ino
index a8bf52a..f87dfb3 100644
--- a/examples/advanced/slave_callback/slave_callback.ino
+++ b/examples/advanced/slave_callback/slave_callback.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
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 492112e..4861a3f 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
@@ -30,33 +30,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 
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 d9eaf11..ad8b34f 100644
--- a/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
+++ b/examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 
diff --git a/examples/basic/baudrate/baudrate.ino b/examples/basic/baudrate/baudrate.ino
index be70708..7977f69 100644
--- a/examples/basic/baudrate/baudrate.ino
+++ b/examples/basic/baudrate/baudrate.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/basic/copy_eeprom_x/copy_eeprom_x.ino b/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
index 60d0fb9..34f47ec 100644
--- a/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
+++ b/examples/basic/copy_eeprom_x/copy_eeprom_x.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 #define MAX_BAUD  5
diff --git a/examples/basic/current_mode/current_mode.ino b/examples/basic/current_mode/current_mode.ino
index 9fd21f5..be22626 100644
--- a/examples/basic/current_mode/current_mode.ino
+++ b/examples/basic/current_mode/current_mode.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/basic/current_position_mode/current_position_mode.ino b/examples/basic/current_position_mode/current_position_mode.ino
index 6cc57e9..bae88c1 100644
--- a/examples/basic/current_position_mode/current_position_mode.ino
+++ b/examples/basic/current_position_mode/current_position_mode.ino
@@ -26,33 +26,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/basic/id/id.ino b/examples/basic/id/id.ino
index 9d47599..035812d 100644
--- a/examples/basic/id/id.ino
+++ b/examples/basic/id/id.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/basic/led/led.ino b/examples/basic/led/led.ino
index e283f4d..3605c99 100644
--- a/examples/basic/led/led.ino
+++ b/examples/basic/led/led.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/basic/operation_mode/operation_mode.ino b/examples/basic/operation_mode/operation_mode.ino
index f9efa6c..02f4d2d 100644
--- a/examples/basic/operation_mode/operation_mode.ino
+++ b/examples/basic/operation_mode/operation_mode.ino
@@ -32,33 +32,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/basic/ping/ping.ino b/examples/basic/ping/ping.ino
index 1a19316..6c3292c 100644
--- a/examples/basic/ping/ping.ino
+++ b/examples/basic/ping/ping.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/basic/position_mode/position_mode.ino b/examples/basic/position_mode/position_mode.ino
index 98fb5eb..1498a29 100644
--- a/examples/basic/position_mode/position_mode.ino
+++ b/examples/basic/position_mode/position_mode.ino
@@ -22,40 +22,41 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
 const uint8_t DXL_ID = 1;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
-Dynamixel2Arduino dxl(DXL_SERIAL);
+Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
 
 //This namespace is required to use Control table item names
 using namespace ControlTableItem;
@@ -80,7 +81,7 @@ void setup() {
   dxl.torqueOn(DXL_ID);
 
   // Limit the maximum velocity in Position Control Mode. Use 0 for Max speed
-  // dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 30);
+  dxl.writeControlTableItem(PROFILE_VELOCITY, DXL_ID, 30);
 }
 
 void loop() {
@@ -88,19 +89,18 @@ void loop() {
   
   // Please refer to e-Manual(http://emanual.robotis.com/docs/en/parts/interface/dynamixel_shield/) for available range of value. 
   // Set Goal Position in RAW value
-  dxl.setGoalPosition(DXL_ID, 4000);
+  dxl.setGoalPosition(DXL_ID, 1000);
 
   int i_present_position = 0;
   float f_present_position = 0.0;
 
-  while (abs(4000 - i_present_position) > 10)
+  while (abs(1000 - i_present_position) > 10)
   {
-    f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
     i_present_position = dxl.getPresentPosition(DXL_ID);
     DEBUG_SERIAL.print("Present_Position(raw) : ");
     DEBUG_SERIAL.println(i_present_position);
   }
-  delay(500);
+  delay(1000);
 
   // Set Goal Position in DEGREE value
   dxl.setGoalPosition(DXL_ID, 5.7, UNIT_DEGREE);
@@ -108,9 +108,8 @@ void loop() {
   while (abs(5.7 - f_present_position) > 2.0)
   {
     f_present_position = dxl.getPresentPosition(DXL_ID, UNIT_DEGREE);
-    i_present_position = dxl.getPresentPosition(DXL_ID);
-    DEBUG_SERIAL.print("Present_Position(raw) : ");
-    DEBUG_SERIAL.println(i_present_position);
+    DEBUG_SERIAL.print("Present_Position(degree) : ");
+    DEBUG_SERIAL.println(f_present_position);
   }
-  delay(500);
+  delay(1000);
 }
diff --git a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
index 0ecf0f8..e3c3a4f 100644
--- a/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
+++ b/examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino
@@ -27,33 +27,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/basic/pwm_mode/pwm_mode.ino b/examples/basic/pwm_mode/pwm_mode.ino
index e94b6ac..49630fb 100644
--- a/examples/basic/pwm_mode/pwm_mode.ino
+++ b/examples/basic/pwm_mode/pwm_mode.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/basic/scan_dynamixel/scan_dynamixel.ino b/examples/basic/scan_dynamixel/scan_dynamixel.ino
index 5fb8f43..1418daa 100644
--- a/examples/basic/scan_dynamixel/scan_dynamixel.ino
+++ b/examples/basic/scan_dynamixel/scan_dynamixel.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/basic/torque/torque.ino b/examples/basic/torque/torque.ino
index 462b9de..67cabc8 100644
--- a/examples/basic/torque/torque.ino
+++ b/examples/basic/torque/torque.ino
@@ -26,33 +26,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/basic/velocity_mode/velocity_mode.ino b/examples/basic/velocity_mode/velocity_mode.ino
index d322d73..e6a174c 100644
--- a/examples/basic/velocity_mode/velocity_mode.ino
+++ b/examples/basic/velocity_mode/velocity_mode.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
  
 
diff --git a/examples/blender/openmanipulator_x/openmanipulator_x.ino b/examples/blender/openmanipulator_x/openmanipulator_x.ino
index de7a15d..48d1a58 100644
--- a/examples/blender/openmanipulator_x/openmanipulator_x.ino
+++ b/examples/blender/openmanipulator_x/openmanipulator_x.ino
@@ -31,33 +31,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 
diff --git a/examples/dynamixel_protocol/factory_reset/factory_reset.ino b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
index 95c7e3b..a357ae8 100644
--- a/examples/dynamixel_protocol/factory_reset/factory_reset.ino
+++ b/examples/dynamixel_protocol/factory_reset/factory_reset.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 #define TIMEOUT 10    //default communication timeout 10ms
diff --git a/examples/dynamixel_protocol/ping/ping.ino b/examples/dynamixel_protocol/ping/ping.ino
index 2aef48f..e291130 100644
--- a/examples/dynamixel_protocol/ping/ping.ino
+++ b/examples/dynamixel_protocol/ping/ping.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 #define TIMEOUT 10    //default communication timeout 10ms
diff --git a/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino b/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
index 28b30ac..7c365f5 100644
--- a/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
+++ b/examples/dynamixel_protocol/read_ax_mx/read_ax_mx.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 //Please see eManual Control Table section of your DYNAMIXEL.
diff --git a/examples/dynamixel_protocol/read_x/read_x.ino b/examples/dynamixel_protocol/read_x/read_x.ino
index 2c25d4b..70b9a39 100644
--- a/examples/dynamixel_protocol/read_x/read_x.ino
+++ b/examples/dynamixel_protocol/read_x/read_x.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 //Please see eManual Control Table section of your DYNAMIXEL.
diff --git a/examples/dynamixel_protocol/reboot/reboot.ino b/examples/dynamixel_protocol/reboot/reboot.ino
index 0c15452..2d8b1d0 100644
--- a/examples/dynamixel_protocol/reboot/reboot.ino
+++ b/examples/dynamixel_protocol/reboot/reboot.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 #define TIMEOUT 10    //default communication timeout 10ms
diff --git a/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino b/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
index a1596e8..5072d5f 100644
--- a/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
+++ b/examples/dynamixel_protocol/write_ax_mx/write_ax_mx.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 //Please see eManual Control Table section of your DYNAMIXEL.
diff --git a/examples/dynamixel_protocol/write_x/write_x.ino b/examples/dynamixel_protocol/write_x/write_x.ino
index 50b0e9e..5da050d 100644
--- a/examples/dynamixel_protocol/write_x/write_x.ino
+++ b/examples/dynamixel_protocol/write_x/write_x.ino
@@ -22,33 +22,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.
 #elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
   //OpenRB does not require the DIR control pin.
   #define DXL_SERIAL Serial1
   #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 //Please see eManual Control Table section of your DYNAMIXEL.

From d83edcce88c6ea6f4cdc93e0236a33f380090f5e Mon Sep 17 00:00:00 2001
From: Will Son <willson@robotis.com>
Date: Tue, 10 May 2022 14:22:53 +0900
Subject: [PATCH 22/24] prework for release

Signed-off-by: Will Son <willson@robotis.com>
---
 README.md                                     | 13 +++++-------
 .../indirect_address/indirect_address.ino     | 19 +++++++++++-------
 install.sh                                    | 20 +++++++++++++------
 library.properties                            |  2 +-
 4 files changed, 32 insertions(+), 22 deletions(-)

diff --git a/README.md b/README.md
index 4fdd586..e5c8912 100644
--- a/README.md
+++ b/README.md
@@ -1,15 +1,15 @@
-# Dynamixel2Arduino [![Build Status](https://travis-ci.org/ROBOTIS-GIT/Dynamixel2Arduino.svg?branch=master)](https://travis-ci.org/ROBOTIS-GIT/Dynamixel2Arduino/branches)
+# DYNAMIXEL2Arduino [![Build Status](https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/workflows/dynamixel2arduino_ci/badge.svg)](https://github.com/ROBOTIS-GIT/Dynamixel2Arduino)
 
-## Serial and Direction Pin definitions by board
- - The examples defines GPIO pins based on the use with DYNAMIXEL Shields.
+## Serial and Direction Pin definitions of ROBOTIS controllers
  - When running DYNAMIXEL without DYNAMIXEL Shields on OpenCM9.04, OpenCR or custom boards, you might need to change the Serial and DYNAMIXEL Direction Pin.
  - We provide the information below to make it easier to define Serial and Direction pins for specific hardware.
 
     |Board Name|Serial|Direction Pin|Note|
     |:-:|:-:|:-:|:-:|
-    |OpenCM9.04|Serial1|28|because of the OpenCM 9.04 driver code, you must call Serial1.setDxlMode(true); before dxl.begin();.|
+    |OpenCM9.04|Serial1|28|Uploading Arduino Sketch will erase the factory firmware. The firmware can be recovered with DYNAMIXEL Wizard 2.0|
     |OpenCM485EXP|Serial3|22||
-    |OpenCR|Serial3|84|For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it. ([Reference link](https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78))|
+    |OpenCR|Serial3|84|OpenCR has an FET switch to control power supply to DYNAMIXEL. ([Reference link](https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78))|
+    |OpenRB-150|Serial1|(-1)Automatic|-|
 
 
 ## How to add new DYNAMIXEL model.
@@ -19,6 +19,3 @@
 ## How to create custom PortHandler Class
  - Please refer to [port_handler.h](https://github.com/ROBOTIS-GIT/Dynamixel2Arduino/blob/master/src/utility/port_handler.h)
  - Create a new class by inheriting PortHandler as public. (Like SerialPortHandler and USBSerialPortHandler)
-
-## TODO
- - Separation of protocol codes (protocol, packet handler)
\ No newline at end of file
diff --git a/examples/advanced/indirect_address/indirect_address.ino b/examples/advanced/indirect_address/indirect_address.ino
index 731a195..c680551 100644
--- a/examples/advanced/indirect_address/indirect_address.ino
+++ b/examples/advanced/indirect_address/indirect_address.ino
@@ -1,4 +1,4 @@
-// Copyright 2021 ROBOTIS CO., LTD.
+// Copyright 2022 ROBOTIS CO., LTD.
 //
 // Licensed under the Apache License, Version 2.0 (the "License");
 // you may not use this file except in compliance with the License.
@@ -30,29 +30,34 @@
   SoftwareSerial soft_serial(7, 8); // DYNAMIXELShield UART RX/TX
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL soft_serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_DUE) // When using DynamixelShield
   #define DXL_SERIAL   Serial
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_SAM_ZERO) // When using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL SerialUSB
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #elif defined(ARDUINO_OpenCM904) // When using official ROBOTIS board with DXL circuit.
   #define DXL_SERIAL   Serial3 //OpenCM9.04 EXP Board's DXL port Serial. (Serial1 for the DXL port on the OpenCM 9.04 board)
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
+  const int DXL_DIR_PIN = 22; //OpenCM9.04 EXP Board's DIR PIN. (28 for the DXL port on the OpenCM 9.04 board)
 #elif defined(ARDUINO_OpenCR) // When using official ROBOTIS board with DXL circuit.
   // For OpenCR, there is a DXL Power Enable pin, so you must initialize and control it.
   // Reference link : https://github.com/ROBOTIS-GIT/OpenCR/blob/master/arduino/opencr_arduino/opencr/libraries/DynamixelSDK/src/dynamixel_sdk/port_handler_arduino.cpp#L78
   #define DXL_SERIAL   Serial3
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+  const int DXL_DIR_PIN = 84; // OpenCR Board's DIR PIN.    
+#elif defined(ARDUINO_OpenRB)  // When using OpenRB-150
+  //OpenRB does not require the DIR control pin.
+  #define DXL_SERIAL Serial1
+  #define DEBUG_SERIAL Serial
+  const int DXL_DIR_PIN = -1;
 #else // Other boards when using DynamixelShield
   #define DXL_SERIAL   Serial1
   #define DEBUG_SERIAL Serial
-  const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
+  const int DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
 #endif
 
 
diff --git a/install.sh b/install.sh
index 72bf0e5..d1ddbb5 100644
--- a/install.sh
+++ b/install.sh
@@ -10,7 +10,7 @@ fi
 # this will be eval'd in the functions below because arrays can't be exported
 # For creating a new main platform, please refer to https://arduino.github.io/arduino-cli/latest/platform-specification/#hardware-folders-structure
 # and https://arduino.github.io/arduino-cli/latest/platform-specification/#boardstxt
-export MAIN_PLATFORMS='declare -A main_platforms=([uno]="arduino:avr:uno" [mega2560]="arduino:avr:mega:cpu=atmega2560" [leonardo]="arduino:avr:leonardo" [due]="arduino:sam:arduino_due_x" [zero]="arduino:samd:arduino_zero_native" [mzero]="arduino:samd:mzero_bl" [mzeropro]="arduino:samd:mzero_pro_bl" [mkrzero]="arduino:samd:mkrzero" [mkr1000]="arduino:samd:mkr1000" [mkrwifi1010]="arduino:samd:mkrwifi1010" [opencr]="OpenCR:OpenCR:OpenCR" [portenta]="arduino:mbed_portenta:envie_m7")'
+export MAIN_PLATFORMS='declare -A main_platforms=([uno]="arduino:avr:uno" [mega2560]="arduino:avr:mega:cpu=atmega2560" [leonardo]="arduino:avr:leonardo" [due]="arduino:sam:arduino_due_x" [zero]="arduino:samd:arduino_zero_native" [mzero]="arduino:samd:mzero_bl" [mzeropro]="arduino:samd:mzero_pro_bl" [mkrzero]="arduino:samd:mkrzero" [mkr1000]="arduino:samd:mkr1000" [mkrwifi1010]="arduino:samd:mkrwifi1010" [opencr]="OpenCR:OpenCR:OpenCR" [openrb-150]="OpenRB-150:samd:OpenRB-150" [portenta]="arduino:mbed_portenta:envie_m7")'
 
 # make display available for arduino CLI
 /sbin/start-stop-daemon --start --quiet --pidfile /tmp/custom_xvfb_1.pid --make-pidfile --background --exec /usr/bin/Xvfb -- :1 -ac -screen 0 1280x1024x16
@@ -38,14 +38,18 @@ sudo apt-get update
 sudo apt-get install libc6:i386
 
 echo -n "ADD PACKAGE INDEX: "
-DEPENDENCY_OUTPUT=$(arduino --pref "boardsmanager.additional.urls=https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json,https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCM9.04/master/arduino/opencm_release/package_opencm9.04_index.json,https://github.com/espressif/arduino-esp32/releases/download/1.0.1/package_esp32_index.json" --save-prefs 2>&1)
+DEPENDENCY_OUTPUT=$(arduino --pref "boardsmanager.additional.urls=https://github.com/espressif/arduino-esp32/releases/download/1.0.1/package_esp32_index.json" --save-prefs 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
 # install other board packages
-echo -n "ADD OpenCR PACKAGE INDEX: "
-DEPENDENCY_OUTPUT=$(arduino --pref "boardsmanager.additional.urls=https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json" --save-prefs 2>&1)
+echo -n "ADD OpenRB-150 PACKAGE INDEX: "
+DEPENDENCY_OUTPUT=$(arduino --pref "boardsmanager.additional.urls=https://raw.githubusercontent.com/ROBOTIS-GIT/OpenRB-150/master/package_openrb_index.json" --save-prefs 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
+# echo -n "ADD OpenCR PACKAGE INDEX: "
+# DEPENDENCY_OUTPUT=$(arduino --pref "boardsmanager.additional.urls=https://raw.githubusercontent.com/ROBOTIS-GIT/OpenCR/master/arduino/opencr_release/package_opencr_index.json" --save-prefs 2>&1)
+# if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
+
 echo -n "INSTALL DUE(sam): "
 DEPENDENCY_OUTPUT=$(arduino --install-boards arduino:sam 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
@@ -58,8 +62,12 @@ echo -n "INSTALL Portenta H7: "
 DEPENDENCY_OUTPUT=$(arduino --install-boards arduino:mbed_portenta 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
-echo -n "INSTALL OpenCR: "
-DEPENDENCY_OUTPUT=$(arduino --install-boards OpenCR:OpenCR 2>&1)
+# echo -n "INSTALL OpenCR: "
+# DEPENDENCY_OUTPUT=$(arduino --install-boards OpenCR:OpenCR 2>&1)
+# if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
+
+echo -n "INSTALL OpenRB-150: "
+DEPENDENCY_OUTPUT=$(arduino --install-boards OpenRB-150:samd 2>&1)
 if [ $? -ne 0 ]; then echo -e "\xe2\x9c\x96"; else echo -e "\xe2\x9c\x93"; fi
 
 # install random lib so the arduino IDE grabs a new library index
diff --git a/library.properties b/library.properties
index 855aba2..8801ca1 100644
--- a/library.properties
+++ b/library.properties
@@ -1,5 +1,5 @@
 name=Dynamixel2Arduino
-version=0.5.3
+version=0.6.0
 author=ROBOTIS
 license=Apache-2.0
 maintainer=Will Son(willson@robotis.com)

From 6c65c94feff6ae920819c8f7e257dd09db52ef0c Mon Sep 17 00:00:00 2001
From: Will Son <willson@robotis.com>
Date: Tue, 10 May 2022 14:32:30 +0900
Subject: [PATCH 23/24] fix ci

Signed-off-by: Will Son <willson@robotis.com>
---
 .github/workflows/dynamixel2arduino_ci.yml | 4 ++--
 1 file changed, 2 insertions(+), 2 deletions(-)

diff --git a/.github/workflows/dynamixel2arduino_ci.yml b/.github/workflows/dynamixel2arduino_ci.yml
index 0e5a810..bbce1a3 100644
--- a/.github/workflows/dynamixel2arduino_ci.yml
+++ b/.github/workflows/dynamixel2arduino_ci.yml
@@ -15,8 +15,8 @@ jobs:
       - uses: actions/checkout@v2
       - name: Run Arduino CI Script
         run: |
-          source <(curl -SLs https://raw.githubusercontent.com/ROBOTIS-GIT/Dynamixel2Arduino/master/install.sh) ${{github.ref}}
-          build_platform opencr
+          source <(curl -SLs https://raw.githubusercontent.com/ROBOTIS-GIT/Dynamixel2Arduino/$GITHUB_REF_NAME/install.sh) ${{github.ref}}
+          build_platform openrb-150
           build_platform uno
           build_platform mega2560
           build_platform mkrzero

From afdade8208b311e285566c9180610117980105ab Mon Sep 17 00:00:00 2001
From: ROBOTIS-Will <willson@robotis.com>
Date: Tue, 10 May 2022 17:55:45 +0900
Subject: [PATCH 24/24] fix ci script branch

Signed-off-by: ROBOTIS-Will <willson@robotis.com>
---
 .github/workflows/dynamixel2arduino_ci.yml | 2 +-
 1 file changed, 1 insertion(+), 1 deletion(-)

diff --git a/.github/workflows/dynamixel2arduino_ci.yml b/.github/workflows/dynamixel2arduino_ci.yml
index bbce1a3..554dda2 100644
--- a/.github/workflows/dynamixel2arduino_ci.yml
+++ b/.github/workflows/dynamixel2arduino_ci.yml
@@ -15,7 +15,7 @@ jobs:
       - uses: actions/checkout@v2
       - name: Run Arduino CI Script
         run: |
-          source <(curl -SLs https://raw.githubusercontent.com/ROBOTIS-GIT/Dynamixel2Arduino/$GITHUB_REF_NAME/install.sh) ${{github.ref}}
+          source <(curl -SLs https://raw.githubusercontent.com/ROBOTIS-GIT/Dynamixel2Arduino/master/install.sh) ${{github.ref}}
           build_platform openrb-150
           build_platform uno
           build_platform mega2560