CPP GroupBulkRead

• Description

  Base class for simultaneous dynamixel control on writing.

• Members

  None

• Methods

• Enumerator

  None

Method References

addParam

• Syntax

  bool addParam(uint8_t id, uint16_t start_address, uint16_t data_length)
  

• Parameters

• Detailed Description

  This function pushes id, start_address, data_length to the list, and initializes the parameter storage. It returns false when target ID exists already in the ID list, or returns true.

removeParam

• Syntax

  void removeParam(UINT8_T id)
  

• Parameters

• Detailed Description

  This function removes target id in the DYNAMIXEL ID list.

clearParam

• Syntax

  void clearParam()
  

• Parameters

  None

• Detailed Description

  This function clears the DYNAMIXEL ID list.

txPacket

• Syntax

  int txPacket()
  

• Parameters

  None

• Detailed Description

  This function transmits the packet by using syncReadTx function. It returns communication result.

rxPacket

• Syntax

  int rxPacket()
  

• Parameters

  None

• Detailed Description

  This function receives the packet by using readRx function. It returns COMM_NOT_AVAILABLE when there is no packet that had been received, or returns communication result.

txRxPacket

• Syntax

  int txRxPacket()
  

• Parameters

  None

• Detailed Description

  This function transmits and receives the packet by using txPacket() function and rxPacket() function. It returns COMM_NOT_AVAILABLE when the packet transmission had not succeeded, or returns communication result.

isAvailable

• Syntax ``` cpp bool isAvailable(uint8_t id, uint16_t address, uint16_t data_length)

- Parameters

| 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. It returns false when there is no data from target address, or returns true.

##### getData
- Syntax
``` cpp
uint32_t getData(uint8_t id, uint16_t address, uint16_t data_length)

• Parameters

• Detailed Description

  This function gets specific data from received packet. It returns value.