read

Description

This function reads data from specific memory addresses of DYNAMIXEL with a specific ID.

Syntax

• read(id, addr, addr_length, *p_recv_buf, recv_buf_capacity, timeout_ms)

Parameters

• id : ID of a specific DYNAMIXEL. Data type : unsigned int8
• addr : Specific memory address of DYNAMIXEL to read. Data type : unsigned int16
• addr_length : Size in byte to read beginning from the addr. Data type : unsigned int16
• *p_recv_buf : Address of buffer to save the received data. Data type : unsigned int8 pointer
• recv_buf_capacity : Size in byte of the p_recv_buf buffer. Data type : unsigned int16
• timeout_ms : Set Timeout in milliseconds. Data type : unsigned int32

Returns

• Length of received parameters on success.
• -1 on failure.

Example

#define ID_ADDR                 7
#define ID_ADDR_LEN             1
#define TIMEOUT 10    //default communication timeout 10ms

const uint8_t DXL_DIR_PIN = 2; // DYNAMIXEL Shield DIR PIN
const uint8_t DXL_ID = 1;
const float DXL_PROTOCOL_VERSION = 2.0;

uint8_t returned_id = 0;

Dynamixel2Arduino dxl(DXL_SERIAL, DXL_DIR_PIN);

void setup() {
  DEBUG_SERIAL.begin(115200);
  dxl.begin(57600);
  dxl.setPortProtocolVersion(DXL_PROTOCOL_VERSION);

  // 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);
}

void loop() {
  // put your main code here, to run repeatedly:
}