Added comment to provide information on AX MX default use of protocol 1 communications.

examples/advanced/add_custom_SerialPortHandler/add_custom_SerialPortHandler.ino

@@ -96,6 +96,8 @@ class NewSerialPortHandler : public DYNAMIXEL::SerialPortHandler
 };
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl;

examples/advanced/fast_sync_read/fast_sync_read.ino

@@ -94,6 +94,8 @@
   } __attribute__((packed));
 */
 
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 1.0;
 const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const uint8_t BROADCAST_ID = 254;
 const uint8_t DXL_ID_CNT = 2;

examples/advanced/indirect_address/indirect_address.ino

@@ -62,6 +62,8 @@
 
 
 const uint8_t BROADCAST_ID = 254;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 1.0;
 const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 
 const uint8_t DXL_ID_CNT = 2;

examples/advanced/pid_tuning/pid_tuning.ino

@@ -60,6 +60,8 @@
 
 const uint8_t DXL_ID = 1;
 const uint32_t DXL_BAUDRATE = 57600;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 int32_t goal_position[2] = {1200, 1600};

examples/advanced/read_write_ControlTableItem/read_write_ControlTableItem.ino

@@ -162,6 +162,8 @@ using namespace ControlTableItem;
 void setup() {
   // put your setup code here, to run once:
   DEBUG_SERIAL.begin(115200);
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: dxl.setPortProtocolVersion(2.0);
   dxl.setPortProtocolVersion(2.0);
   dxl.begin(57600);
   dxl.scan();
@@ -211,4 +213,4 @@ void loop() {
   }
 
   delay(2000);  
-}
+}

examples/advanced/slave/slave.ino

@@ -85,6 +85,8 @@ void setup() {
   // Speed setting for communication (not necessary for USB)
   dxl_port.begin(1000000);
 
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: dxl.setPortProtocolVersion(DXL_PROTOCOL_VER_1_0);
   dxl.setPortProtocolVersion(DXL_PROTOCOL_VER_2_0);
   dxl.setFirmwareVersion(1);
   dxl.setID(1);
@@ -111,4 +113,4 @@ void loop() {
   // Update or use variables for each control item.
   digitalWrite(LED_BUILTIN, control_item_led);
   control_item_analog = analogRead(A0);
-}
+}

examples/advanced/slave_callback/slave_callback.ino

@@ -85,6 +85,8 @@ void setup() {
   // Speed setting for communication (not necessary for USB)
   dxl_port.begin(1000000);
 
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: dxl.setPortProtocolVersion(DXL_PROTOCOL_VER_1_0);
   dxl.setPortProtocolVersion(DXL_PROTOCOL_VER_2_0);
   dxl.setFirmwareVersion(1);
   dxl.setID(1);

examples/advanced/sync_read_write_position/sync_read_write_position.ino

@@ -99,6 +99,8 @@
 */
 
 const uint8_t BROADCAST_ID = 254;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const uint8_t DXL_ID_CNT = 2;
 const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {1, 2};

examples/advanced/sync_read_write_velocity/sync_read_write_velocity.ino

@@ -93,6 +93,8 @@
 */
 
 const uint8_t BROADCAST_ID = 254;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
 const uint8_t DXL_ID_CNT = 2;
 const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {1, 2};

examples/basic/baudrate/baudrate.ino

@@ -54,6 +54,8 @@
 
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 uint32_t BAUDRATE = 57600;
 uint32_t NEW_BAUDRATE = 1000000; //1Mbsp
@@ -105,4 +107,4 @@ void setup() {
 
 void loop() {
   // put your main code here, to run repeatedly:
-}
+}

examples/basic/current_mode/current_mode.ino

@@ -54,6 +54,8 @@
 
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

examples/basic/current_position_mode/current_position_mode.ino

@@ -58,6 +58,8 @@
 
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

examples/basic/id/id.ino

@@ -54,6 +54,8 @@
 
 
 const uint8_t DEFAULT_DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
@@ -116,4 +118,4 @@ void setup() {
 
 void loop() {
   // put your main code here, to run repeatedly:
-}
+}

examples/basic/led/led.ino

@@ -54,6 +54,8 @@
 
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

examples/basic/operation_mode/operation_mode.ino

@@ -64,6 +64,8 @@
 
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

examples/basic/ping/ping.ino

@@ -54,6 +54,8 @@
 
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
@@ -117,4 +119,4 @@ void FindServos(void) {
     Serial.print("Broadcast returned no items : ");
     Serial.println(dxl.getLastLibErrCode());
   }
-}
+}

examples/basic/position_mode/position_mode.ino

@@ -54,6 +54,8 @@
 
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

examples/basic/profile_velocity_acceleration/profile_velocity_acceleration.ino

@@ -59,6 +59,8 @@
 
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

examples/basic/pwm_mode/pwm_mode.ino

@@ -54,6 +54,8 @@
 
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

examples/basic/torque/torque.ino

@@ -58,6 +58,8 @@
 
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

examples/basic/velocity_mode/velocity_mode.ino

@@ -54,6 +54,8 @@
 
 
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

examples/dynamixel_protocol/factory_reset/factory_reset.ino

@@ -54,6 +54,8 @@
 
 #define TIMEOUT 10    //default communication timeout 10ms
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 bool ret = false;
@@ -131,4 +133,4 @@ void loop() {
   }
 
   delay(1000);
-}
+}

examples/dynamixel_protocol/ping/ping.ino

@@ -64,6 +64,8 @@ uint8_t ret = 0;
 uint8_t recv_count = 0;
 
 const uint8_t DXL_ID = BROADCAST_ID;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 
 Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);
@@ -104,4 +106,4 @@ void setup() {
 
 void loop() {
   // put your main code here, to run repeatedly:
-}
+}

examples/dynamixel_protocol/reboot/reboot.ino

@@ -54,6 +54,8 @@
 
 #define TIMEOUT 10    //default communication timeout 10ms
 const uint8_t DXL_ID = 1;
+// MX and AX servos use DYNAMIXEL Protocol 1.0 by default.
+// to use MX and AX servos with this example, change the following line to: const float DXL_PROTOCOL_VERSION = 1.0;
 const float DXL_PROTOCOL_VERSION = 2.0;
 uint8_t option = 0;
 
@@ -98,4 +100,4 @@ void loop() {
   }
 
   delay(1000);
-}
+}

keywords.txt

@@ -193,9 +193,9 @@ SHUTDOWN	LITERAL1
 
 TORQUE_ENABLE	LITERAL1
 LED	LITERAL1
-LED_RED	LITERAL1
-LED_GREEN	LITERAL1
-LED_BLUE	LITERAL1
+RGB_LED_RED	LITERAL1
+RGB_LED_GREEN	LITERAL1
+RGB_LED_BLUE	LITERAL1
 REGISTERED_INSTRUCTION	LITERAL1
 HARDWARE_ERROR_STATUS	LITERAL1
 VELOCITY_P_GAIN	LITERAL1

src/Dynamixel2Arduino.cpp

@@ -558,10 +558,10 @@ bool Dynamixel2Arduino::setLedState(uint8_t id, bool state)
     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);
+              writeControlTableItem(ControlTableItem::RGB_LED_GREEN, id, state);
+              writeControlTableItem(ControlTableItem::RGB_LED_BLUE, id, state);
           }
-      ret = writeControlTableItem(ControlTableItem::LED_RED, id, state);
+      ret = writeControlTableItem(ControlTableItem::RGB_LED_RED, id, state);
       break;
 
     default: