Difference between the read write example, the sync read write example, the bulk read write example, and the Indirect Address example
For systematical description or the details of communication method in the Dynamixel, visit http://support.robotis.com/en/ /Product Information/Actuator/Communication X.0/
Normal Read and Write controls only one Dynamixel
To make a single wheel turn, or to make LED blink, for becoming familiar with the Dynamixel, or if the operation you planned is not restricted by the time sequence, use this.
Sync Read and Write controls more than two Dynamixels simultaneously, targeting same items on each of them
To make a multi-joint mechanism or something that should be operated at the same time, use this. This sends the packet once as:
- let them : [ID:1] turn wheel to 200 + [ID:3] turn wheel to 1500 + [ID:9] turn wheel to 40 + …
While using Normal Read and Write control in the situation, there is a time gap between former and latter signal transmission.
Bulk Read and Write controls more than two Dynamixels simultaneously, targeting different items in each other of them
This is as nearly the same as Sync Read and Write control, though, it can control different items. For instance:
- let them : [ID:1] turn wheel to 200 + [ID:3] blink LED 1(1) + [ID:9] - set P gain 150 + …
While using Normal Read and Write control or Sync Read and Write control in the situation, the signal should be transmitted in single items so whole process would be long.
Indirect Address control (is available only in Dynamixel PRO and X series but its very useful!)
To control multiple items in multiple dynamixel, and when you want to use Sync Read and Write control rather than Bulk Read and Write control, use this. Copy the buffer of targeted items to another address on the memory using Normal Read and Write control, then Sync Read and Write control them.