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Added XM335-T323. #153

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74dd939
Feat: Added XM335-T323
jonghee-son May 21, 2026
6c3702f
Fix: Added XM335-T323 related missing configurations
jonghee-son May 21, 2026
def331c
Misc: Bump version to 0.8.2
jonghee-son May 21, 2026
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2 changes: 1 addition & 1 deletion library.properties
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Original file line number Diff line number Diff line change
@@ -1,5 +1,5 @@
name=Dynamixel2Arduino
version=0.8.1
version=0.8.2
author=ROBOTIS
license=Apache-2.0
maintainer=Sookyung Son(sukaa@robotis.com)
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22 changes: 21 additions & 1 deletion src/Dynamixel2Arduino.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -37,6 +37,7 @@ const uint16_t model_number_table[] PROGMEM = {
XC330_M288,
XC330_T181,
XC330_T288,
XM335_T323,
XL430_W250,
XXL430_W250,
XC430_W150, XC430_W240,
Expand Down Expand Up @@ -308,6 +309,7 @@ bool Dynamixel2Arduino::setBaudrate(uint8_t id, uint32_t baudrate)
return false;
}
break;
case XM335_T323:
case XC330_M288:
case XC330_M181:
case XC330_T288:
Expand Down Expand Up @@ -727,7 +729,8 @@ bool Dynamixel2Arduino::setOperatingMode(uint8_t id, uint8_t mode)
case XC330_M288:
case XC330_M181:
case XC330_T181:
case XC330_T288:
case XC330_T288:
case XM335_T323:
case XM430_W210:
case XM430_W350:
case XH430_V210:
Expand Down Expand Up @@ -1190,6 +1193,7 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_ctable_2_0_common[] PROGM
|| ENABLE_ACTUATOR_MX106_PROTOCOL2 \
|| ENABLE_ACTUATOR_XL330 \
|| ENABLE_ACTUATOR_XC330 \
|| ENABLE_ACTUATOR_XM335 \
|| ENABLE_ACTUATOR_XC430 \
|| ENABLE_ACTUATOR_XL430 \
|| ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 || ENABLE_ACTUATOR_XD430 \
Expand Down Expand Up @@ -1267,6 +1271,17 @@ const ModelDependencyFuncItemAndRangeInfo_t dependency_xc330_t181_t288[] PROGMEM
{LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};

const ModelDependencyFuncItemAndRangeInfo_t dependency_xm335_t323[] PROGMEM = {
#if (ENABLE_ACTUATOR_XM335)
{SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -910, 910, 1},
{GET_CURRENT, PRESENT_CURRENT, UNIT_MILLI_AMPERE, -910, 910, 1},

{SET_VELOCITY, GOAL_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
{GET_VELOCITY, PRESENT_VELOCITY, UNIT_RPM, -2047, 2047, 0.229},
#endif
{LAST_DUMMY_FUNC, ControlTableItem::LAST_DUMMY_ITEM, UNIT_RAW, 0, 0, 0}
};

const ModelDependencyFuncItemAndRangeInfo_t dependency_xm430_w210_w350[] PROGMEM = {
#if (ENABLE_ACTUATOR_XM430)
{SET_CURRENT, GOAL_CURRENT, UNIT_MILLI_AMPERE, -1193, 1193, 2.69},
Expand Down Expand Up @@ -1692,6 +1707,11 @@ static ItemAndRangeInfo_t getModelDependencyFuncInfo(uint16_t model_num, uint8_t
p_dep_ctable = dependency_xc330_t181_t288;
break;

case XM335_T323:
p_common_ctable = dependency_ctable_2_0_common;
p_dep_ctable = dependency_xm335_t323;
break;

case XM430_W210:
case XM430_W350:
p_common_ctable = dependency_ctable_2_0_common;
Expand Down
5 changes: 4 additions & 1 deletion src/actuator.cpp
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Expand Up @@ -170,6 +170,7 @@ const ModelControlTableInfo_t control_table_2_0[] PROGMEM = {
|| ENABLE_ACTUATOR_MX106_PROTOCOL2 \
|| ENABLE_ACTUATOR_XL330 \
|| ENABLE_ACTUATOR_XC330 \
|| ENABLE_ACTUATOR_XM335 \
|| ENABLE_ACTUATOR_XL430 \
|| ENABLE_ACTUATOR_XC430 \
|| ENABLE_ACTUATOR_XM430 || ENABLE_ACTUATOR_XH430 || ENABLE_ACTUATOR_XD430 \
Expand Down Expand Up @@ -258,6 +259,7 @@ const ModelControlTableInfo_t xc430_xl430_control_table[] PROGMEM = {
const ModelControlTableInfo_t xmh430_xl330_control_table[] PROGMEM = {
#if (ENABLE_ACTUATOR_XL330 \
|| ENABLE_ACTUATOR_XC330 \
|| ENABLE_ACTUATOR_XM335 \
|| ENABLE_ACTUATOR_XM430 \
|| ENABLE_ACTUATOR_XH430)
{ControlTableItem::CURRENT_LIMIT, 38, 2},
Expand Down Expand Up @@ -570,7 +572,8 @@ ControlTableItemInfo_t DYNAMIXEL::getControlTableItemInfo(uint16_t model_num, ui
case XC330_M181:
case XC330_M288:
case XC330_T181:
case XC330_T288:
case XC330_T288:
case XM335_T323:
case XM430_W210:
case XM430_W350:
case XH430_V210:
Expand Down
4 changes: 4 additions & 0 deletions src/actuator.h
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Original file line number Diff line number Diff line change
Expand Up @@ -93,6 +93,10 @@
#define XC330_T288 (uint16_t)1220
#endif

#ifndef XM335_T323
#define XM335_T323 (uint16_t)1710
#endif

#ifndef XC430_W150
#define XC430_W150 (uint16_t)1070
#endif
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1 change: 1 addition & 0 deletions src/utility/config.h
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Original file line number Diff line number Diff line change
Expand Up @@ -18,6 +18,7 @@
#define ENABLE_ACTUATOR_XL320 1
#define ENABLE_ACTUATOR_XL330 1
#define ENABLE_ACTUATOR_XC330 1
#define ENABLE_ACTUATOR_XM335 1
#define ENABLE_ACTUATOR_XL430 1 // includes 2XL430
#define ENABLE_ACTUATOR_XC430 1 // includes 2XC430
#define ENABLE_ACTUATOR_XM430 1
Expand Down
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