python_groupsyncwrite

• Description

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

• Members

  None

• Methods

Methods	Description
GroupSyncWrite	Initializes members of packet data pointer struct
addParam	Adds parameter storage for read
removeParam	Removes parameter on the storage
changeParam	Changes parameter on the storage
clearParam	Clears parameter storage
txPacket	Transmits packet to the number of DYNAMIXEL's

• Enumerator

  None

Method References

GroupSyncWrite

• Syntax

GroupSyncWrite(port, ph, start_address, data_length)

• Parameters

Parameters	Description
port_num	PortHandler instance
ph	PacketHandler instance
start_address	Control table address to start writing 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.

addParam

• Syntax

addParam(dxl_id, data)

• Parameters

Parameters	Description
dxl_id	DYNAMIXEL ID
data	Data for write

• Detailed Description

  This function pushes dxl_id to the DYNAMIXEL ID list, and initializes parameter storage by adding input_length bytes data. The function deals with 1, 2 or 4 byte data only. The function returns false when the length of input data exceeds parameter or wrong length, or returns true.

removeParam

• Syntax

removeParam(dxl_id)

• Parameters

Parameters	Description
dxl_id	DYNAMIXEL ID

• Detailed Description

  This function removes dxl_id and its data for write in the DYNAMIXEL ID list. The function returns false when no data is in the parameter storage, or returns true.

changeParam

• Syntax

changeParam(dxl_id, data)

• Parameters

Parameters	Description
dxl_id	DYNAMIXEL ID
data	Data for write

• Detailed Description

  This function pushes new data_length bytes data into parameter storage of same dxl_id. The function returns false when the target ID doesn’t exists in the ID list, or returns true.

clearParam

• Syntax

clearParam()

• Parameters

  None

• Detailed Description

  This function clears DYNAMIXEL ID list.

txPacket

• Syntax

txPacket()

• Parameters

None

• Detailed Description

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