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API Reference

Python

Python GroupSyncRead

Methods Description
GroupSyncRead Initializes members of packet data pointer struct
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

GroupSyncRead
Parameters Description
port PortHandler instance
ph PacketHandler instance
start_address Control table address to start reading data
data_length Total data length
addParam
Parameters Description
dxl_id Dynamixel ID
removeParam
Parameters Description
dxl_id Dynamixel ID
clearParam

None

txPacket

None

rxPacket

None

txRxPacket

None

##### isAvailable

Parameters Description
dxl_id Dynamixel ID
address Address on the control table of Dynamixel
data_length data length
getData
Parameters Description
dxl_id Dynamixel ID
address Address on the control table of Dynamixel
data_length data length