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CPP GroupSyncRead

• Description

  Base class for simultaneous dynamixel control on reading.

• Members

  None

• Methods

Methods	Description
GroupSyncRead	Initializes groupSyncRead instance
~GroupSyncRead	Clears parameter storage
getPortHandler	Returns PortHandler instance
getPacketHandler	Returns PacketHandler instance
addParam	Adds parameter storage for read
removeParam	Removes parameter on the storage
clearParam	Clears parameter storage
txPacket	Transmits packet to the number of DYNAMIXEL’s
rxPacket	receives packet from the number of DYNAMIXEL’s
txRxPacket	Transmits and receives packet on the number of DYNAMIXEL’s
isAvailable	Checks whether there is available data in the data storage
getData	Gets data from received packet

• Enumerator

  None

Method References

addParam

• Syntax

  bool addParam(UINT8_T id)
  

• Parameters

Parameters	Description
id	DYNAMIXEL ID

• Detailed Description

  This function pushes id to the DYNAMIXEL ID list, and initializes the parameter storage. It returns false when the class uses Protocol 1.0 or 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. It returns false when the class uses Protocol 1.0 or target ID does not exists in the ID list, or returns true.

clearParam

• Syntax

  void clearParam()
  

• Parameters

  None

• Detailed Description

  This function clears the DYNAMIXEL ID list. It returns false when the class uses Protocol 1.0, or returns true.

txPacket

• Syntax

  int txPacket()
  

• Parameters

  None

• Detailed Description

  This function transmits the packet by using syncReadTx() function. It returns COMM_NOT_AVAILABLE when the class uses Protocol 1.0, or 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 the class uses Protocol 1.0 or 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 class uses Protocol 1.0 or the packet transmission had not succeeded, or returns communication result.

isAvailable

• Syntax

  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 storage. It returns false when used Protocol is 1.0 version or there is no data from target address, or returns true.

getData

• Syntax

  uint32_t getData(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 length	Data length

• Detailed Description

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