cpp_groupbulkread

CPP GroupBulkRead

• Description

  Base class for simultaneous dynamixel control on writing.

• Members

  None

• Methods

Methods	Description
GroupBulkRead	Initializes groupBulkRead instance
~GroupBulkRead	Clears parameter storage
getPortHandler	Returns PortHandler instance
getPacketHandler	Returns PacketHandler instance
addParam	Adds parameter storage for read
removeParam	Removes parameter on the storage
clearParam	Clears parameter storage
txPacket	Transmits packet to the number of DYNAMIXEL's
rxPacket	receives packet from the number of DYNAMIXEL's
txRxPacket	Transmits and receives packet on the number of DYNAMIXEL's
isAvailable	Checks whether there is available data in the data storage
getData	Gets data from received packet

• Enumerator

  None

Method References

addParam

• Syntax

bool addParam(uint8_t id, uint16_t start_address, uint16_t data_length)

• Parameters

Parameters	Description
id	DYNAMIXEL ID
start_address	Address on the control table of DYNAMIXEL
data_length	data_length

• Detailed Description

  This function pushes id, start_address, data_length to the list, and initializes the parameter storage. It returns false when target ID exists already in the ID list, or returns true.

removeParam

• Syntax

void removeParam(UINT8_T id)

• Parameters

Parameters	Description
id	DYNAMIXEL ID

• Detailed Description

  This function removes target id in the DYNAMIXEL ID list.

clearParam

• Syntax

void clearParam()

• Parameters

  None

• Detailed Description

  This function clears the DYNAMIXEL ID list.

txPacket

• Syntax

int txPacket()

• Parameters

  None

• Detailed Description

  This function transmits the packet by using syncReadTx function. It returns communication result.

rxPacket

• Syntax

int rxPacket()

• Parameters

  None

• Detailed Description

  This function receives the packet by using readRx function. It returns COMM_NOT_AVAILABLE when there is no packet that had been received, or returns communication result.

txRxPacket

• Syntax

int txRxPacket()

• Parameters

  None

• Detailed Description

  This function transmits and receives the packet by using txPacket() function and rxPacket() function. It returns COMM_NOT_AVAILABLE when the packet transmission had not succeeded, or returns communication result.

isAvailable

• Syntax

bool isAvailable(uint8_t id, uint16_t address, uint16_t data_length)

• Parameters

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. It returns false when there is no data from target address, or returns true.

getData

• Syntax

uint32_t getData(uint8_t id, uint16_t address, uint16_t data_length)

• Parameters

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

• Detailed Description

  This function gets specific data from received packet. It returns value.