Edit on GitHub

CPP GroupBulkWrite

• Description

  Base class for simultaneous dynamixel control on writing.

• Members

  None

• Methods

Methods	Description
GroupBulkWrite	Initializes groupBulkWrite instance
~GroupBulkWrite	Clears parameter storage
getPortHandler	Returns PortHandler instance
getPacketHandler	Returns PacketHandler instance
addParam	Adds parameter storage for read
removeParam	Removes parameter on the storage
changeParam	Changes parameter on the storage
clearParam	Clears parameter storage
txPacket	Transmits packet to the number of DYNAMIXEL’s

• Enumerator

  None

Method References

addParam

• Syntax

  bool addParam(UINT8_T id, UINT16_T start_address, UINT16_T data_length, UINT8_T *data)
  

• Parameters

Parameters	Description
id	DYNAMIXEL ID
start_address	Start address
data_length	Data length
data	Data for write

• Detailed Description

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

removeParam

• Syntax

  void removeParam(UINT8_T id)
  

• Parameters

Parameters	Description
id	DYNAMIXEL ID

• Detailed Description

  This function removes target id in the DYNAMIXEL ID list.

changeParam

• Syntax

   bool changeParam(UINT8_T id, UINT16_T start_address, UINT16_T data_length, UINT8_T *data)
  

• Parameters

Parameters	Description
id	DYNAMIXEL ID
start_address	Start address
data_length	Data length
data	data for write

• Detailed Description

  This function pushes new data to the parameter storage of same ID. It returns false when the target ID doesn’t exists in the ID list, or returns true.

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 bulkWriteTxOnly() function. It returns COMM_NOT_AVAILABLE when the class uses Protocol 1.0 or there is no item on the DYNAMIXEL ID list, or returns communication result.