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C GroupBulkRead

  • Description : Base functions for simultaneous dynamixel control on reading to different length data on different control table address.

  • Members : None

Methods Description
groupBulkRead Initializes members of packet data pointer struct
groupBulkReadAddParam Adds parameter storage for read
groupBulkReadRemoveParam Removes parameter on the storage
groupBulkReadClearParam Clears parameter storage
groupBulkReadTxPacket Transmits packet to the number of DYNAMIXEL’s
groupBulkReadRxPacket receives packet from the number of DYNAMIXEL’s
groupBulkReadTxRxPacket Transmits and receives packet on the number of DYNAMIXEL’s
groupBulkReadIsAvailable Checks whether there is available data in the data storage
groupBulkReadGetData Gets data from received packet
  • Enumerator : None

Method References

groupBulkRead
  • Syntax 
    uint8_t groupBulkRead(int port_num, int protocol_version)
Parameters Description
port_num Port number
protocol_version Protocol version

  • Detailed Description

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

groupBulkReadAddParam
  • Syntax 
    uint8_t groupBulkReadAddParam(int group_num, uint8_t id, uint16_t start_address, uint16_t data_length)
Parameters Description
group_num Group number
id DYNAMIXEL ID
start_address Start address
data_length Data length

  • Detailed Description

    This function pushes id to the DYNAMIXEL ID list, and initializes the parameter storage by setting start_address and data_length.

groupBulkReadRemoveParam
  • Syntax 
    void groupBulkReadRemoveParam(int group_num, uint8_t id)
Parameters Description
group_num Group number
id DYNAMIXEL ID

  • Detailed Description

    This function removes target id in the #group_num DYNAMIXEL ID list. It returns false when the class uses Protocol 1.0 .

groupBulkReadClearParam
  • Syntax 
    void groupBulkReadClearParam(int group_num)
Parameters Description
group_num Group number

  • Detailed Description

    This function clears the #group_num DYNAMIXEL ID list. It returns false when the class uses Protocol 1.0, or returns true.

groupBulkReadTxPacket
  • Syntax 
    int groupBulkReadTxPacket(int group_num)
Parameters Description
group_num Group number

  • Detailed Description

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

groupBulkReadRxPacket
  • Syntax 
    int groupBulkReadRxPacket(int group_num)
Parameters Description
group_num Group number

  • Detailed Description

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

groupBulkReadTxRxPacket
  • Syntax 
    int groupBulkReadTxRxPacket(int group_num)
Parameters Description
group_num Group number

  • Detailed Description

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

groupBulkReadIsAvailable
  • Syntax 
    bool groupBulkReadIsAvailable(int group_num, uint8_t id, uint16_t address, uint16_t data_length)
Parameters Description
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 storage. It returns false when there is no data from target address, or returns true.

groupBulkReadGetData
  • Syntax 
    uint8_t groupBulkReadGetData(int group_num, uint8_t id, uint16_t address, uint16_t data_length)
Parameters Description
group_num Group number
id DYNAMIXEL ID
address Address on the control table of DYNAMIXEL
data_length Data length

  • Detailed Description

    This function gets specific data from received packet. It returns false when there is no data from target address, or returns true.