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 |
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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 |
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Detailed Description
This function pushes
id
to the DYNAMIXEL ID list, and initializes the parameter storage bysetting start_address
anddata_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 |
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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 |
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Detailed Description
This function transmits and receives the packet by using
groupBulkReadTxPacket
function andgroupBulkReadRxPacket
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.