dynamixel-genom3

Hello @Anthony Mallet

I am using different motor models than the ones supported and tested before.

XL330-M077: https://emanual.robotis.com/docs/en/dxl/x/xl330-m077/
XL330-M288: https://emanual.robotis.com/docs/en/dxl/x/xl330-m288/

Both support protocol 2.0. So I added them to list of known motor models to my local repo and tested both.
I am not sure about the torque resolution values.

Here are the code changes:

--- a/codels/dynamixel_comm_codels.c
+++ b/codels/dynamixel_comm_codels.c
@@ -63,6 +63,22 @@ const struct dx_modelid dx_models[] = {
       .torque = 2.69/1000
     }
   },
+  { .id = 0x04A6, .name = "XL330-M077",
+    .resolution = {
+      .position = M_PI/2048,
+      .velocity = 0.229*2*M_PI/60,
+      .acceleration = 214.577*2*M_PI/60/60,
+      .torque = 2.69/1000
+    }
+  },
+  { .id = 0x04B0, .name = "XL330-M288",
+    .resolution = {
+      .position = M_PI/2048,
+      .velocity = 0.229*2*M_PI/60,
+      .acceleration = 214.577*2*M_PI/60/60,
+      .torque = 2.69/1000
+    }
+  },
   { .id = 0, .name = NULL }
 };

Regards,
Youssef