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C GroupBulkWrite

• Description

  Base functions for simultaneous dynamixel control on writing to different length data on different control table address.

• Members

  None

Methods	Description
groupBulkWrite	Initializes members of packet data pointer struct
groupBulkWriteAddParam	Adds parameter storage for read
groupBulkWriteRemoveParam	Removes parameter on the storage
groupBulkWriteChangeParam	Changes parameter on the storage
groupBulkWriteClearParam	Clears parameter storage
groupBulkWriteTxPacket	Transmits packet to the number of DYNAMIXEL’s

• Enumerator

  None

Method References

groupBulkWrite

• Syntax

  int groupBulkWrite(int port_num, int protocol_version)
  

• Parameters

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.

groupBulkWriteAddParam

• Syntax

  uint8_t groupBulkWriteAddParam(int group_num, uint8_t id, uint16_t start_address, uint16_t data_length, uint32_t data, uint16_t input_length)
  

Parameters	Description
group_num	Group number
id	DYNAMIXEL ID
start_address	Start address
data_length	Data length
data	Data for write
input_length	Input data length

• Detailed Description

  This function pushes id into the DYNAMIXEL ID list, and initializes #group_num parameter storage by setting start_address and param_length. The function deals with 1, 2 or 4 byte data only. The function returns false when the length of input data exceeds parameter or wrong length, or returns true.

groupBulkWriteRemoveParam

• Syntax

  void groupBulkWriteRemoveParam(int group_num, uint8_t id)
  

• Parameters

Parameters	Description
group_num	Group number
id	DYNAMIXEL ID

• Detailed Description

  This function removes id and its data for write in the #group_num DYNAMIXEL ID list. The function returns false when no data is in the parameter storage, or returns true.

groupBulkWriteChangeParam

• Syntax

   uint8_t groupBulkWriteChangeParam(int group_num, uint8_t id, uint16_t start_address, uint16_t data_length, uint32_t data, uint16_t input_length, uint16_t data_pos)
  

Parameters	Description
group_num	Group number
id	DYNAMIXEL ID
start_address	Start address
data_length	Data length
data	data for write
input_length	Input data length
data_pos	Data position in the array

• Detailed Description

  This function pushes new data_length bytes data into #group_num parameter storage of same id. The function returns false when the target ID doesn’t exists in the ID list, or returns true.

groupBulkWriteClearParam

• Syntax

  void groupBulkWriteClearParam(int group_num)
  

Parameters	Description
group_num	Group number

• Detailed Description

  This function clears #group_num DYNAMIXEL ID list.

groupBulkWriteTxPacket

• Syntax

  int groupBulkWriteTxPacket(int group_num)
  

Parameters	Description
group_num	Group number

• Detailed Description

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