Edit on GitHub

API Reference

CPP

CPP GroupBulkRead

   
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 Dynamixels
rxPacket receives packet from the number of Dynamixels
txRxPacket Transmits and receives packet on the number of Dynamixels
isAvailable Checks whether there is available data in the data storage
getData Gets data from received packet

Method References


addParam
     
id Dynamixel ID  
start_address Address on the control table of Dynamixel  
data_length data_length  
removeParam
   
id Dynamixel ID
clearParam
txPacket
rxPacket
txRxPacket
isAvailable
- Parameters

| | |
| ------------- | ------------- |
|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
``` cpp
uint32_t getData(uint8_t id, uint16_t address, uint16_t data_length)
   
id Dynamixel ID
address Address on the control table of Dynamixel
data_length data length