C PacketHandler

• Description : Base functions for packet construction.

• Members : None

• Methods

• Enumerator

Method References

packetHandler

• Syntax

  void packetHandler()
  

• Parameters

  None

• Detailed Description

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

printTxRxResult

• Syntax

  void printTxRxResult(int protocol_version, int result)
  

• Parameters

• Detailed Description

  This function calls either PrintTxRxResult1 or PrintTxRxResult2 function depending on the protocol_version.

printRxPacketError

• Syntax

  void printRxPacketError(int protocol_version, uint8_t error)
  

• Parameters

• Detailed Description

  This function calls either PrintRxPacketError1 or PrintRxPacketError2 function depending on the protocol_version.

getLastTxRxResult

• Syntax

  int getLastTxRxResult(int port_num, int protocol_version)
  

• Parameters

• Detailed Description

  This function calls either getLastTxRxResult1 or getLastTxRxResult2 function depending on the protocol_version.

getLastRxPacketError

• Syntax

  uint8_t getLastRxPacketError(int port_num, int protocol_version)
  

• Parameters

• Detailed Description

  This function calls either getLastRxPacketError1 or getLastRxPacketError2 function depending on the protocol_version.

setDataWrite

• Syntax

  void setDataWrite(int port_num, int protocol_version, uint16_t data_length, uint16_t data_pos, uint32_t data)
  

• Parameters

• Detailed Description

  This function calls either setDataWrite1 or setDataWrite2 function depending on the protocol_version.

getDataRead

• Syntax

  uint32_t getDataRead(int port_num, int protocol_version, uint16_t data_length, uint16_t data_pos)
  

• Parameters

• Detailed Description

  This function calls either getDataRead1 or getDataRead2 function depending on the protocol_version.

txPacket

• Syntax

   void txPacket(int port_num, int protocol_version)
  

• Parameters

• Detailed Description

  This function calls either txPacket1 or txPacket2 function depending on the protocol_version.

rxPacket

• Syntax

  void rxPacket(int port_num, int protocol_version)
  

• Parameters

• Detailed Description

  This function calls either rxPacket1 or rxPacket2 function depending on the protocol_version.

txRxPacket

• Syntax ``` cpp void txRxPacket(int port_num, int protocol_version)

- Parameters

| Parameters       | Description      |
|:-----------------|:-----------------|
| port_num         | Port number      |
| protocol_version | Protocol version |

- Detailed Description

   This function calls either `txRxPacket1` or `txRxPacket2` function depending on the `protocol_version`.


##### ping
- Syntax
``` cpp
void ping (int port_num, int protocol_version, uint8_t id)

• Parameters

• Detailed Description

  This function calls either ping1 or ping2 function depending on the protocol_version.

pingGetModelNum

• Syntax ``` cpp uint16_t pingGetModelNum (int port_num, int protocol_version, int id)

- Parameters

| Parameters       | Description      |
|:-----------------|:-----------------|
| port_num         | Port number      |
| protocol_version | Protocol version |
| id               | Dynamixel ID     |

- Detailed Description

   This function calls either `pingGetModelNum1` or `pingGetModelNum2` function depending on the `protocol_version`.


##### broadcastPing
- Syntax
``` cpp
void broadcastPing(int port_num, int protocol_version)

• Parameters

• Detailed Description

  This function calls either broadcastPing1 or broadcastPing2 function depending on the protocol_version.

getBroadcastPingResult

• Syntax ``` cpp uint8_t getBroadcastPingResult(int port_num, int protocol_version, int id)

- Parameters

| Parameters       | Description      |
|:-----------------|:-----------------|
| port_num         | Port number      |
| protocol_version | Protocol version |
| id               | Dynamixel ID     |

- Detailed Description

   This function calls either `getBroadcastPingResult1` or `getBroadcastPingResult2` function depending on the `protocol_version`.


##### action
- Syntax
``` cpp
void action(int port_num, int protocol_version, int id)

• Parameters

• Detailed Description

  This function calls either action1 or action2 function depending on the protocol_version.

reboot

• Syntax

  void reboot(int port_num, int protocol_version, uint8_t id)
  

• Parameters

• Detailed Description

  This function calls either reboot1 or reboot2 function depending on the protocol_version.

factoryReset

• Syntax ``` cpp void factoryReset(int port_num, int protocol_version, uint8_t id, uint8_t option)

- Parameters

| Parameters       | Description      |
|:-----------------|:-----------------|
| port_num         | Port number      |
| protocol_version | Protocol version |
| id               | Dynamixel ID     |
| option           | Reset option     |

- Detailed Description

   This function calls either `factoryReset1` or `factoryReset2` function depending on the `protocol_version`.

##### readTx
- Syntax
``` cpp
void readTx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)

• Parameters

• Detailed Description

  This function calls either readTx1 or readTx2 function depending on the protocol_version.

readRx

• Syntax

  void readRx(int port_num, int protocol_version, uint16_t length)
  

• Parameters

• Detailed Description

  This function calls either readRx1 or readRx2 function depending on the protocol_version.

readTxRx

• Syntax

   void readTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function calls either readTxRx1 or readTxRx2 function depending on the protocol_version.

read1ByteTx

• Syntax

  void read1ByteTx(int port_num, int protocol_version, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls either read1ByteTx1 or read1ByteTx2 function depending on the protocol_version.

read1ByteRx

• Syntax

  uint8_t read1ByteRx(int port_num, int protocol_version)
  

• Parameters

• Detailed Description

  This function calls either read1ByteRx1 or read1ByteRx2 function depending on the protocol_version.

read1ByteTxRx

• Syntax

   uint8_t read1ByteTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls either read1ByteTxRx1 or read1ByteTxRx2 function depending on the protocol_version.

read2ByteTx

• Syntax

  void read2ByteTx(int port_num, int protocol_version, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls either read2ByteTx1 or read2ByteTx2 function depending on the protocol_version.

read2ByteRx

• Syntax

   uint16_t read2ByteRx(int port_num, int protocol_version)
  

• Parameters

• Detailed Description

  This function calls either read2ByteRx1 or read2ByteRx2 function depending on the protocol_version.

read2ByteTxRx

• Syntax

   uint16_t read2ByteTxRx(int port_num, int protocol_version, uint8_t id,uint16_t address)
  

• Parameters

• Detailed Description

  This function calls either read2ByteTxRx1 or read2ByteTxRx2 function depending on the protocol_version.

read4ByteTx

• Syntax

  void read4ByteTx(int port_num, int protocol_version, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls either read4ByteTx1 or read4ByteTx2 function depending on the protocol_version.

read4ByteRx

• Syntax

  uint32_t read4ByteRx(int port_num, int protocol_version)
  

• Parameters

• Detailed Description

  This function calls either read4ByteRx1 or read4ByteRx2 function depending on the protocol_version.

read4ByteTxRx

• Syntax

  uint32_t read4ByteTxRx(int port_num, int protocol_version, UIN8_T id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls either read4ByteTxRx1 or read4ByteTxRx2 function depending on the protocol_version.

writeTxOnly

• Syntax

  void writeTxOnly(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function calls either writeTxOnly1 or writeTxOnly2 function depending on the protocol_version.

writeTxRx

• Syntax

  void writeTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function calls either writeTxRx1 or writeTxRx2 function depending on the protocol_version.

write1ByteTxOnly

• Syntax

  void write1ByteTxOnly(int port_num, int protocol_version, uint8_t id, uint16_t address, uint8_t data)
  

• Parameters

• Detailed Description

  This function calls either write1ByteTxOnly1 or write1ByteTxOnly2 function depending on the protocol_version.

write1ByteTxRx

• Syntax

  void write1ByteTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint8_t data)
  

• Parameters

• Detailed Description

  This function calls either write1ByteTxRx1 or write1ByteTxRx2 function depending on the protocol_version.

write2ByteTxOnly

• Syntax

  void write2ByteTxOnly(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t data)
  

• Parameters

• Detailed Description

  This function calls either write2ByteTxOnly1 or write2ByteTxOnly2 function depending on the protocol_version.

write2ByteTxRx

• Syntax

   void write2ByteTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t data)
  

• Parameters

• Detailed Description

  This function calls either write2ByteTxRx1 or write2ByteTxRx2 function depending on the protocol_version.

write4ByteTxOnly

• Syntax

  void write4ByteTxOnly(int port_num, int protocol_version, uint8_t id, uint16_t address, uint32_t data)
  

• Parameters

• Detailed Description

  This function calls either write4ByteTxOnly1 or write4ByteTxOnly2 function depending on the protocol_version.

write4ByteTxRx

• Syntax

  void write4ByteTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls either write4ByteTxRx1 or write4ByteTxRx2 function depending on the protocol_version.

regWriteTxOnly

• Syntax

   void regWriteTxOnly(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function calls either RegWriteTxOnly1 or RegWriteTxOnly2 function depending on the protocol_version.

regWriteTxRx

• Syntax

   void regWriteTxRx(int port_num, int protocol_version, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function calls either regWriteTxRx1 or regWriteTxRx2 function depending on the protocol_version.

syncReadTx

• Syntax

  void syndReadTx(int port_num, int protocol_version, uint16_t address, uint16_t data_length, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function calls either syncReadTx1 or syncReadTx2 function depending on the protocol_version.

syncWriteTxOnly

• Syntax

   void syncWriteTxOnly(int port_num, int protocol_version, uint16_t start_address, uint16_t data_length, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function calls either syncWriteTxOnly1 or syncWriteTxOnly2 function depending on the protocol_version.

bulkReadTx

• Syntax

   void bulkReadTx(int port_num, int protocol_version, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function calls either bulkReadTx1 or bulkReadTx2 function depending on the protocol_version.

bulkWriteTxOnly

• Syntax

   void bulkWriteTxOnly(int port_num, int protocol_version, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function calls either bulkWriteTxOnly1 or bulkWriteTxOnly2 function depending on the protocol_version.

C Protocol1PacketHandler

• Description

PacketHandler dependent functions for packet construction using Protocol 1.0.

• Members

None

• Methods

• Enumerator

None

Method References

printTxRxResult1

• Syntax

  void printTxRxResult1(int result)
  

• Parameters

• Detailed Description

  This function prints out on the console window what communication result value means.

printRxPacketError1

• Syntax

  void printRxPacketError1(uint8_t error)
  

• Parameters

• Detailed Description

  This function prints out on the console window what hardware error value means.

getLastTxRxResult1

• Syntax

  int getLastTxRxResult1(int port_num)
  

• Parameters

• Detailed Description

  This function returns the communication result of #port_num port.

getLastRxPacketError1

• Syntax

  uint8_t getLastRxPacketError1(int port_num)
  

• Parameters

• Detailed Description

  This function returns the hardware error of #port_num port.

setDataWrite1

• Syntax

  void setDataWrite1(int port_num, uint16_t data_length, uint16_t data_pos, uint32_t data)
  

• Parameters

• Detailed Description

  This function puts Data length bytes of Data into data_pos element of array for writing data at #port_num port tx buffer.

getDataRead1

• Syntax

  uint32_t getDataRead1(int port_num, uint16_t data_length, uint16_t data_pos)
  

• Parameters

• Detailed Description

  This function gets data_length bytes of the data located in data_pos position of read data array that from #port_num port rx buffer.

txPacket1

• Syntax

  void txPacket1(int port_num)
  

• Parameters

• Detailed Description

  This function transmits the packet. The function clears the port by ClearPort function at first, and stores data in the txpacket storage of #port_num port. The communication result and the hardware error are available when the function is terminated.

rxPacket1

• Syntax

  void rxPacket1(int port_num)
  

• Parameters

• Detailed Description

  This function repeatedly tries to receive packets from #port_num port rx buffer until whole packets that it waits to get have arrived, or the packet wait time limit is over, while it filters garbage signals and verify correctness of received signal. The communication result and the hardware error are available when the function is terminated.

txRxPacket1

• Syntax ``` cpp void txRxPacket1(int port_num)

- Parameters

| Parameters | Description |
|:-----------|:------------|
| port_num   | Port number |

- Detailed Description

  This function stores data for being written into the array for packet transmission and gets data read from rx buffer of #`port_num` port by `txPacket1` and `rxPacket1` functions. When `txPacket1` function succeeds to communicate, it will continue to `RxPacket2` and finishes the process if the packet succeeds to be received. In particular, the group handler functions for write, such as SyncWrite, don’t use `RxPacket` so the function finishes its operation immediately after the `txPacket1`. Before the `rxPacket1`, it sets packet timeout if the instruction of received packet is for read. The communication result and the hardware error are available when the function is terminated.


##### ping1
- Syntax
``` cpp
void ping1 (int port_num, uint8_t id)

• Parameters

• Detailed Description

  This function uses pingGetModelNum1 without requesting Dynamixel to send its the model number. The communication result and the hardware error are available when the function is terminated.

pingGetModelNum1

• Syntax ``` cpp uint16_t pingGetModelNum1 (int port_num, int id)

- Parameters

| Parameters | Description  |
|:-----------|:-------------|
| port_num   | Port number  |
| id         | Dynamixel ID |

- Detailed Description

  This function constructs the transmission packet for ping, and stats `txRxPacket1`. Then, the function tries to get the model number of the Dynamixel by `readTxRx1` function. When it succeeds to receive the packet, it returns the model number. The communication result and the hardware error are available when the function is terminated.


##### broadcastPing1
- Syntax
``` cpp
void broadcastPing1(int port_num)

• Parameters

• Detailed Description

  This function is not available with the Dynamixel Protocol 1.0.

getBroadcastPingResult1

• Syntax ``` cpp uint8_t getBroadcastPingResult1(int port_num)

- Parameters

| Parameters | Description |
|:-----------|:------------|
| port_num   | Port number |

- Detailed Description

  This function is not available with the Dynamixel Protocol 1.0. The function returns false.

##### action1
- Syntax
``` cpp
void action1(int port_num, int id)

• Parameters

• Detailed Description

  This function pulls the trigger of sending txpacket previously set by regWriteTxOnly1 or regWriteTxRx1 function, using txRxPacket1 function. The communication result and the hardware error are available when the function is terminated.

reboot1

• Syntax

  void reboot1(int port_num, uint8_t id)
  

• Parameters

• Detailed Description

  This function is not available with the Dynamixel Protocol 1.0.

factoryReset1

• Syntax ``` cpp void factoryReset1(int port_num, uint8_t id, uint8_t option)

- Parameters

| Parameters | Description  |
|:-----------|:-------------|
| port_num   | Port number  |
| id         | Dynamixel ID |
| option     | Reset option |

- Detailed Description

  This function constructs the transmission packet for reset Dynamixel, and starts `txRxPacket1`. This resets targeted Dynamixel's settings to the factory default settings. The `option` is not available in Dynamixel Protocol 1.0. The communication result and the hardware error are available when the function is terminated.


##### readTx1
- Syntax
``` cpp
void readTx1(int port_num, uint8_t id, uint16_t address, uint16_t length)

• Parameters

• Detailed Description

  This function constructs the transmission packet with read instruction, and starts txPacket1. Then the function calls SetPacketTimeout function when packet transmission succeeds. This function can’t control more than one Dynamixel at once. The communication result and the hardware error are available when the function is terminated.

readRx1

• Syntax

  void readRx1(int port_num, uint16_t length)
  

• Parameters

• Detailed Description

  This function calls rxPacket1 function and gets the packet from read data storage if the communication succeeds. The communication result and the hardware error are available when the function is terminated.

readTxRx1

• Syntax

  void readTxRx1(int port_num, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function calls readTx1 function and readRx1 function. readRx1 function will be called when readTx1 succeeds. The communication result and the hardware error are available when the function is terminated.

read1ByteTx1

• Syntax

  void read1ByteTx1(int port_num, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls readTx1 function to send 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteRx1

• Syntax

  uint8_t read1ByteRx1(int port_num)
  

• Parameters

• Detailed Description

  This function calls readRx1 function to receive response packet of 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteTxRx1

• Syntax

  uint8_t read1ByteTxRx1(int port_num, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls readTxRx1 function to read 1 Byte data from Dynamixel. The communication result and the hardware error are available when the function is terminated.

read2ByteTx1

• Syntax

  void read2ByteTx1(int port_num, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls readTx1 function to send 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteRx1

• Syntax

  uint16_t read2ByteRx1(int port_num)
  

• Parameters

• Detailed Description

  This function calls readRx1 function to receive response packet of 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteTxRx1

• Syntax

  uint16_t read2ByteTxRx1(int port_num, uint8_t id,uint16_t address)
  

• Parameters

• Detailed Description

  This function calls readTxRx1 function to read 2 Byte data from Dynamixel. The communication result and the hardware error are available when the function is terminated.

read4ByteTx1

• Syntax

  void read4ByteTx1(int port_num, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function is not available with the Dynamixel Protocol 1.0.

read4ByteRx1

• Syntax

  uint32_t read4ByteRx1(int port_num)
  

• Parameters

• Detailed Description

  This function is not available with the Dynamixel Protocol 1.0.

read4ByteTxRx1

• Syntax

  uint32_t read4ByteTxRx1(int port_num, UIN8_T id, uint16_t address)
  

• Parameters

• Detailed Description

  This function is not available with the Dynamixel Protocol 1.0.

writeTxOnly1

• Syntax

  void writeTxOnly1(int port_num, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function constructs the transmission packet with write instruction, and starts txPacket1. The communication result and the hardware error are available when the function is terminated.

writeTxRx1

• Syntax

  void writeTxRx1(int port_num, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function constructs the transmission packet with write instruction, and starts txRxPacket1. The communication result and the hardware error are available when the function is terminated.

write1ByteTxOnly1

• Syntax

  void write1ByteTxOnly1(int port_num, uint8_t id, uint16_t address, uint8_t data)
  

• Parameters

• Detailed Description

  This function calls writeTxOnly1 function to send 1 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write1ByteTxRx1

• Syntax

  void write1ByteTxRx1(int port_num, uint8_t id, uint16_t address, uint8_t data)
  

• Parameters

• Detailed Description

  This function calls writeTxRx1 function to send 1 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write2ByteTxOnly1

• Syntax

  void write2ByteTxOnly1(int port_num, uint8_t id, uint16_t address, uint16_t data)
  

• Parameters

• Detailed Description

  This function calls writeTxOnly1 function to send 2 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write2ByteTxRx1

• Syntax

  void write2ByteTxRx1(int port_num, uint8_t id, uint16_t address, uint16_t data)
  

• Parameters

• Detailed Description

  This function calls writeTxRx1 function to send 2 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write4ByteTxOnly1

• Syntax

  void write4ByteTxOnly1(int port_num, uint8_t id, uint16_t address, uint32_t data)
  

• Parameters

• Detailed Description

  This function is not available with the Dynamixel Protocol 1.0.

write4ByteTxRx1

• Syntax

  void write4ByteTxRx1(int port_num, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function is not available with the Dynamixel Protocol 1.0.

regWriteTxOnly1

• Syntax

  void regWriteTxOnly1(int port_num, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function intends simultaneous control of more than one Dynamixel. The function writes the data without requesting an action of Dynamixel. The Dynamixel works when the trigger action1 function is executed. The function needs previous setting of the data to write on the Dynamixel. The communication result and the hardware error are available when the function is terminated.

regWriteTxRx1

• Syntax

  void regWriteTxRx1(int port_num, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function intends simultaneous multiple Dynamixel control. The function writes the data without requesting an action of Dynamixel. The Dynamixel works when the trigger action1 function is executed. The function needs previous setting of the data to write on the Dynamixel. The communication result and the hardware error are available when the function is terminated.

syncReadTx1

• Syntax

  void syncReadTx1(int port_num, uint16_t address, uint16_t data_length, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function is not available with the Dynamixel Protocol 1.0.

syncWriteTxOnly1

• Syntax

  void syncWriteTxOnly1(int port_num, uint16_t start_address, uint16_t data_length, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function intends simultaneous multiple Dynamixel control by writing same length of data to the same address on the Dynamixel control table. The function constructs the transmission packet with sync write instruction, and starts txRxPacket1. The communication result and the hardware error are available when the function is terminated.

bulkReadTx1

• Syntax

  void bulkReadTx1(int port_num, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function intends simultaneous multiple Dynamixel control by reading different length of data to the different address on the Dynamixel control table. The function constructs the transmission packet with bulk read instruction, and starts txPacket1. Then the function calls SetPacketTimeout function when txPacket1 succeeds. The communication result and the hardware error are available when the function is terminated.

bulkWriteTxOnly1

• Syntax

  void bulkWriteTxOnly1(int port_num, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function is not available with the Dynamixel Protocol 1.0.

C Protocol2PacketHandler

• Description

  PacketHandler dependent functions for packet construction using Protocol 2.0.

• Members

  None

• Methods

• Enumerator

  None

Method References

printTxRxResult2

• Syntax

  void printTxRxResult2(int result)
  

• Parameters

• Detailed Description

  This function prints out on the console window what communication result value means.

printRxPacketError2

• Syntax

  void printRxPacketError2(uint8_t error)
  

• Parameters

• Detailed Description

  This function prints out on the console window what hardware error value means.

getLastTxRxResult2

• Syntax

  int getLastTxRxResult2(int port_num)
  

• Parameters

• Detailed Description

  This function returns the communication result of #port_num port.

getLastRxPacketError2

• Syntax

  uint8_t getLastRxPacketError2(int port_num)
  

• Parameters

• Detailed Description

  This function returns the hardware error of #port_num port.

setDataWrite2

• Syntax

  void setDataWrite2(int port_num, uint16_t data_length, uint16_t data_pos, uint32_t data)
  

• Parameters

• Detailed Description

  This function puts Data length bytes of Data into data_pos element of array for writing data at #port_num port tx buffer.

getDataRead2

• Syntax

  uint32_t getDataRead2(int port_num, uint16_t data_length, uint16_t data_pos)
  

• Parameters

• Detailed Description

  This function gets data_length bytes of the data located in data_pos position of read data array that from #port_num port rx buffer.

txPacket2

• Syntax

   void txPacket2(int port_num)
  

• Parameters

• Detailed Description

  This function transmits the packet. The function clears the port by ClearPort function at first, and stores data in the txpacket storage of #port_num port. The communication result and the hardware error are available when the function is terminated.

rxPacket2

• Syntax

  void rxPacket2(int port_num)
  

• Parameters

• Detailed Description

  This function repeatedly tries to receive packets from #port_num port rx buffer until whole packets that it waits to get have arrived, or the packet wait time limit is over, while it filters garbage signals and verify correctness of received signal. The communication result and the hardware error are available when the function is terminated.

txRxPacket2

• Syntax ``` cpp void txRxPacket2(int port_num)

- Parameters

| Parameters | Description |
|:-----------|:------------|
| port_num   | Port number |

- Detailed Description

   This function stores data for being written into the array for packet transmission and gets data read from rx buffer of #`port_num` port by `txPacket2` and `rxPacket2` functions. When `txPacket2` function succeeds to communicate, it will continue to `rxPacket2` and finishes the process if the packet succeeds to be received. In particular, the group handler functions for write, such as SyncWrite, and BulkWrite, don’t use `rxPacket2` so the function finishes its operation immediately after the 'txPacket2'. Before the `rxPacket2`, it sets packet timeout if the instruction of received packet is for read. The communication result and the hardware error are available when the function is terminated.


##### ping2
- Syntax
``` cpp
void ping2 (int port_num, uint8_t id)

• Parameters

• Detailed Description

  This function uses pingGetModelNum2 without requesting Dynamixel to send its the model number. The communication result and the hardware error are available when the function is terminated.

pingGetModelNum2

• Syntax ``` cpp uint16_t pingGetModelNum2 (int port_num, int id)

- Parameters

| Parameters | Description  |
|:-----------|:-------------|
| port_num   | Port number  |
| id         | Dynamixel ID |

- Detailed Description

   This function constructs the transmission packet for ping, and stats `txRxPacket2`. Then, the function tries to get the model number of the Dynamixel by `readTxRx2` function. When it succeeds to receive the packet, it returns the model number. The communication result and the hardware error are available when the function is terminated.


##### broadcastPing2
- Syntax
``` cpp
void broadcastPing2(int port_num)

• Parameters

• Detailed Description

  This function finds all connected dynamixels and store their id in the list.

getBroadcastPingResult2

• Syntax ``` cpp uint8_t getBroadcastPingResult2(int port_num, int id)

- Parameters

| Parameters | Description  |
|:-----------|:-------------|
| port_num   | Port number  |
| id         | Dynamixel ID |

- Detailed Description

   This function returns whether #`id` Dynamixel responded by `broadcastPing2` function.


##### action2
- Syntax
``` cpp
void action2(int port_num, int id)

• Parameters

• Detailed Description

  This function pulls the trigger of sending txpacket previously set by regWriteTxOnly2 or regWriteTxRx2 function, using txRxPacket2 function. The communication result and the hardware error are available when the function is terminated.

reboot2

• Syntax

  void reboot2(int port_num, uint8_t id)
  

• Parameters

• Detailed Description

  This function constructs the transmission packet with reboot instruction, and starts txRxPacket2. The function may perform its role when the Dynamixel stops working caused by hardware error. The communication result and the hardware error are available when the function is terminated.

factoryReset2

• Syntax ``` cpp void factoryReset2(int port_num, uint8_t id, uint8_t option)

- Parameters

| Parameters | Description  |
|:-----------|:-------------|
| port_num   | Port number  |
| id         | Dynamixel ID |
| option     | Reset option |

- Detailed Description

   This function constructs the transmission packet for reset Dynamixel, and starts `txRxPacket2`. This resets targeted Dynamixel's settings to the factory default settings. The `option` indicates the range of which items on the control table should be reset: `0xFF` for resetting all values, `0x01` for resetting all values except ID, `0x02` for resetting all values except ID and Baudrate. The communication result and the hardware error are available when the function is terminated.

##### readTx2
- Syntax
``` cpp
void readTx2(int port_num, uint8_t id, uint16_t address, uint16_t length)

• Parameters

• Detailed Description

  This function constructs the transmission packet with read instruction, and starts txPacket2. Then the function calls setPacketTimeout function when packet transmission succeeds. This function can’t control more than one Dynamixel at once. The communication result and the hardware error are available when the function is terminated.

readRx2

• Syntax

  void readRx2(int port_num, uint16_t length)
  

• Parameters

• Detailed Description

  This function calls rxPacket2 function and gets the packet from read data storage if the communication succeeds. The communication result and the hardware error are available when the function is terminated.

readTxRx2

• Syntax

   void readTxRx2(int port_num, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function calls readTx2 function and readRx2 function. readRx2 function will be called when readTx2 succeeds. The communication result and the hardware error are available when the function is terminated.

read1ByteTx2

• Syntax

  void read1ByteTx2(int port_num, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls readTx2 function to send 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteRx2

• Syntax

  uint8_t read1ByteRx2(int port_num)
  

• Parameters

• Detailed Description

  This function calls readRx2 function to receive response packet of 1 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read1ByteTxRx2

• Syntax

   uint8_t read1ByteTxRx2(int port_num, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls readTxRx2 function to read 1 Byte data from Dynamixel. The communication result and the hardware error are available when the function is terminated.

read2ByteTx2

• Syntax

  void read2ByteTx2(int port_num, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls readTx2 function to send 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteRx2

• Syntax

   uint16_t read2ByteRx2(int port_num)
  

• Parameters

• Detailed Description

  This function calls readRx2 function to receive response packet of 2 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read2ByteTxRx2

• Syntax

   uint16_t read2ByteTxRx2(int port_num, uint8_t id,uint16_t address)
  

• Parameters

• Detailed Description

  This function calls readTxRx2 function to read 2 Byte data from Dynamixel. The communication result and the hardware error are available when the function is terminated.

read4ByteTx2

• Syntax

  void Read4ByteTx1(int port_num, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls readTx2 function to send 4 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read4ByteRx2

• Syntax

  uint32_t read4ByteRx2(int port_num)
  

• Parameters

• Detailed Description

  This function calls readRx2 function to receive response packet of 4 Byte read intended packet transmission. The communication result and the hardware error are available when the function is terminated.

read4ByteTxRx2

• Syntax

  uint32_t read4ByteTxRx2(int port_num, UIN8_T id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls readTxRx2 function to read 4 Byte data from Dynamixel. The communication result and the hardware error are available when the function is terminated.

writeTxOnly2

• Syntax

  void writeTxOnly2(int port_num, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function constructs the transmission packet with write instruction, and starts txPacket2. The communication result and the hardware error are available when the function is terminated.

writeTxRx2

• Syntax

  void writeTxRx2(int port_num, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function constructs the transmission packet with write instruction, and starts txRxPacket2. The communication result and the hardware error are available when the function is terminated.

write1ByteTxOnly2

• Syntax

  void write1ByteTxOnly2(int port_num, uint8_t id, uint16_t address, uint8_t data)
  

• Parameters

• Detailed Description

  This function calls writeTxOnly2 function to send 1 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write1ByteTxRx2

• Syntax

  void write1ByteTxRx2(int port_num, uint8_t id, uint16_t address, uint8_t data)
  

• Parameters

• Detailed Description

  This function calls writeTxRx2 function to send 1 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write2ByteTxOnly2

• Syntax

  void write2ByteTxOnly2(int port_num, uint8_t id, uint16_t address, uint16_t data)
  

• Parameters

• Detailed Description

  This function calls writeTxOnly2 function to send 2 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write2ByteTxRx2

• Syntax

   void write2ByteTxRx2(int port_num, uint8_t id, uint16_t address, uint16_t data)
  

• Parameters

• Detailed Description

  This function calls writeTxRx2 function to send 2 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

write4ByteTxOnly2

• Syntax

  void write4ByteTxOnly2(int port_num, uint8_t id, uint16_t address, uint32_t data)
  

• Parameters

• Detailed Description

  This function calls writeTxOnly2 function to send 4 Byte write intended packet transmission. The communication result and the hardware error are available when the function is terminated.

write4ByteTxRx2

• Syntax

  void write4ByteTxRx2(int port_num, uint8_t id, uint16_t address)
  

• Parameters

• Detailed Description

  This function calls writeTxRx2 function to send 4 Byte write intended packet transmission (and reception). The communication result and the hardware error are available when the function is terminated.

regWriteTxOnly2

• Syntax

   void regWriteTxOnly2(int port_num, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function intends simultaneous control of more than one Dynamixel. The function writes the data without requesting an action of Dynamixel. The Dynamixel works when the trigger action2 function is executed. The function needs previous setting of the data to write on the Dynamixel. The communication result and the hardware error are available when the function is terminated.

regWriteTxRx2

• Syntax

   void regWriteTxRx2(int port_num, uint8_t id, uint16_t address, uint16_t length)
  

• Parameters

• Detailed Description

  This function intends simultaneous multiple Dynamixel control. The function writes the data without requesting an action of Dynamixel. The Dynamixel works when the trigger action2 function is executed. The function needs previous setting of the data to write on the Dynamixel. The communication result and the hardware error are available when the function is terminated.

syncReadTx2

• Syntax

  void syncReadTx2(int port_num, uint16_t address, uint16_t data_length, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function intends simultanoues multiple Dynamixel control by reading same length of data from the same address on the Dynamixel control table. The function constructs the transmission packet with sync read instruction, and starts ‘txPacket2’. Then the function calls setPacketTimeout function when txPacket2 succeeds. The communication result and the hardware error are available when the function is terminated.

syncWriteTxOnly2

• Syntax

   void syncWriteTxOnly2(int port_num, uint16_t start_address, uint16_t data_length, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function intends simultaneous multiple Dynamixel control by writing same length of data to the same address on the Dynamixel control table. The function constructs the transmission packet with sync write instruction, and starts txRxPacket2. The communication result and the hardware error are available when the function is terminated.

bulkReadTx2

• Syntax

   void bulkReadTx2(int port_num, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function intends simultaneous multiple Dynamixel control by writing different length of data to the different address on the Dynamixel control table. The function constructs the transmission packet with bulk read instruction, and starts txPacket2. Then the function calls setPacketTimeout function when txPacket2 succeeds. The communication result and the hardware error are available when the function is terminated.

bulkWriteTxOnly2

• Syntax

   void bulkWriteTxOnly2(int port_num, uint16_t param_length)
  

• Parameters

• Detailed Description

  This function intends simultaneous multiple Dynamixel control by writing different length of data from the different address on the Dynamixel control table. The function constructs the transmission packet with bulk write instruction, and starts TxRxPacket. The communication result and the hardware error are available when the function is terminated.