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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.