c_groupsyncread

• Description

  Base functions for simultaneous dynamixel control on reading to same length data on same control table address.

• Members

  None

Methods	Description
groupSyncRead	Initializes members of packet data pointer struct
groupSyncReadAddParam	Adds parameter storage for read
groupSyncReadRemoveParam	Removes parameter on the storage
groupSyncReadClearParam	Clears parameter storage
groupSyncReadTxPacket	Transmits packet to the number of DYNAMIXEL's
groupSyncReadRxPacket	receives packet from the number of DYNAMIXEL's
groupSyncReadTxRxPacket	Transmits and receives packet on the number of DYNAMIXEL's
groupFastSyncReadTxPacket	Transmits packet to the number of DYNAMIXEL's quickly
groupFastSyncReadRxPacket	Receives packet from the number of DYNAMIXEL's quickly
groupFastSyncReadTxRxPacket	Transmits and receives packet on the number of DYNAMIXEL's quickly
groupSyncReadIsAvailable	Checks whether there is available data in the data storage
groupSyncReadGetData	Gets data from received packet

• Enumerator

  None

Method References

groupSyncRead

• Syntax

int groupSyncRead(int port_num, int protocol_version, uint16_t start_address, uint16_t data_length)

Parameters	Description
port_num	Port number
protocol_version	Protocol version
start_address	Control table address to start reading data
data_length	Total data length

• Detailed Description

  This function initializes the parameters for packet construction. The function resizes groupData struct and initialzes struct members.

groupSyncReadAddParam

• Syntax

uint8_t groupSyncReadAddParam(int group_num, uint8_t id)

Parameters	Description
group_num	Group number
id	DYNAMIXEL ID

• Detailed Description

  This function pushes id to the DYNAMIXEL ID list, and initializes #group_num parameter storage It returns false when the class uses Protocol 1.0, or it returns true.

groupSyncReadRemoveParam

• Syntax

void groupSyncReadRemoveParam(int group_num, uint8_t id)

Parameters	Description
group_num	Group number
id	DYNAMIXEL ID

• Detailed Description

  This function removes id and its data for write in the #group_num DYNAMIXEL ID list. It returns false when the class uses Protocol 1.0 or target ID does not exists in the ID list, or returns true.

groupSyncReadClearParam

• Syntax

void groupSyncReadClearParam(int group_num)

Parameters	Description
group_num	Group number

• Detailed Description

  This function clears #group_num DYNAMIXEL ID list. It returns false when the class uses Protocol 1.0, or returns true.

groupSyncReadTxPacket

• Syntax

void groupSyncReadTxPacket(int group_num)

Parameters	Description
group_num	Group number

• Detailed Description

  This function transmits the packet by using SyncReadTx function. The communication result and the hardware error are available when the function is terminated.

groupSyncReadRxPacket

• Syntax

void groupSyncReadRxPacket(int group_num)

Parameters	Description
group_num	Group number

• Detailed Description

  This function receives the packet by using ReadRx function. The communication result and the hardware error are available when the function is terminated.

groupSyncReadTxRxPacket

• Syntax

void groupSyncReadTxRxPacket(int group_num)

Parameters	Description
group_num	Group number

• Detailed Description

  This function transmits and receives the packet by using SyncReadTx function and ReadRx function. The communication result and the hardware error are available when the function is terminated.

groupFastSyncReadTxPacket

• Syntax

void groupFastSyncReadTxPacket(int group_num)

Parameters	Description
group_num	Group number

• Detailed Description

  This function transmits and receives the packet by using fastSyncReadTx quickly. The communication result and the hardware error are available when the function is terminated.

groupFastSyncReadRxPacket

• Syntax

void groupFastSyncReadRxPacket(int group_num)

Parameters	Description
group_num	Group number

• Detailed Description

  This function transmits and receives the packet by using fastSyncReadRx function quickly. The communication result and the hardware error are available when the function is terminated.

groupFastSyncReadTxRxPacket

• Syntax

void groupFastSyncReadTxRxPacket(int group_num)

Parameters	Description
group_num	Group number

• Detailed Description

  This function transmits and receives the packet by using fastSyncReadTx function and fastSyncReadRx function quickly. The communication result and the hardware error are available when the function is terminated.

groupSyncReadIsAvailable

• Syntax

uint8_t groupSyncReadIsAvailable(int group_num, uint8_t id, uint16_t address, uint16_t data_length)

Parameters	Description
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Packet data

• Detailed Description

  This function checks whether there is available data in the data storage. It returns false when used Protocol is 1.0 version or there is no data from target address, or returns true.

groupSyncReadGetData

• Syntax

uint32_t groupSyncReadGetData(int group_num, uint8_t id, uint16_t address, uint16_t data_length)

Parameters	Description
group_num	Group number
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Packet data

• Detailed Description

  This function gets specific data from received packet. It returns false when the class uses Protocol 1.0 or there is no data from target address, or returns true.