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CPP PacketHandler

• Description

Base class for packet construction.

• Members

  None

• Methods

Methods	Description
getPacketHandler	Gets PacketHandler from either of Protocols
~PacketHandler	None
getProtocolVersion	Gets Protocol version
printTxRxResult	Shows communication result
printRxPacketError	Shows hardware error
txPacket	Transmits the packet
rxPacket	Receives the packet
txRxPacket	Transmits and receives the packet
ping	Ping DYNAMIXEL
broadcastPing	Ping all connected DYNAMIXEL’s
action	Commands ‘Run’ the Regwritten
regWrite	Writes the packets and wait for the ‘Action’ command
reboot	Reboots DYNAMIXEL
factoryReset	Resets all DYNAMIXEL settings
readTx	Transmits N byte read instruction packet
readRx	Receives N byte read status packet
readTxRx	Transmits and receives N byte packet
read1ByteTx	Transmits 1 byte read instruction packet
read1ByteRx	Receives 1 byte read status packet
read1ByteTxRx	Transmits and receives 1 byte packet
read2ByteTx	Transmits 2 byte read instruction packet
read2ByteRx	Receives 2 byte read status packet
read2ByteTxRx	Transmits and receives 2 byte packet
read4ByteTx	Transmits 4 byte read instruction packet
read4ByteRx	Receives 4 byte read status packet
read4ByteTxRx	Transmits and receives 4 byte packet
writeTxOnly	Transmits N byte write instruction packet
writeTxRx	Transmits and receives N byte packet
write1ByteTxOnly	Transmits 1 byte write instruction packet
write1ByteTxRx	Transmits and receives 1 byte packet
write2ByteTxOnly	Transmits 2 byte write instruction packet
write2ByteTxRx	Transmits and receives 2 byte packet
write4ByteTxOnly	Transmits 4 byte write instruction packet
write4ByteTxRx	Transmits and receives 4 byte packet
regWriteTxOnly	Transmits register write instruction packet
regWriteTxRx	Transmits and receives register write packet
syncReadTx	Transmits N byte sync read Instruction packet
syncWriteTxOnly	Transmits N byte sync write Instruction packet
bulkReadTx	Transmits N byte bulk read Instruction packet
bulkWriteTxOnly	Transmits N byte bulk write Instruction packet

• Enumerator

Enumerator	Description
DXL_MAKEWORD(a, b)	Makes value from a and b to word type
DXL_MAKEDWORD(a, b)	Makes value from a and b to dword type
DXL_LOWORD(l)	Gets lower word type value from l
DXL_HIWORD(l)	Gets higher word type value from l
DXL_LOBYTE(w)	Gets lower byte type value from w
DXL_HIBYTE(w)	Gets higher byte type value from w
BROADCAST_ID	:= 0xFE Broadcast ID
MAX_ID	:= 0xFC Maximum ID value
INST_PING	:= 1 Instruction value of Ping
INST_READ	:= 2 Instruction value of Read
INST_WRITE	:= 3 Instruction value of Write
INST_REG_WRITE	:= 4 Instruction value of Register Write
INST_ACTION	:= 5 Instruction value of Action
INST_FACTORY_RESET	:= 6 Instruction value of Factory Reset
INST_SYNC_WRITE	:= 131 Instruction value of Sync Write
INST_BULK_READ	:= 146 Instruction value of Bulk Read
INST_REBOOT	:= 8 Instruction value of Reboot
INST_STATUS	:= 85 Instruction value of Status
INST_SYNC_READ	:= 130 Instruction value of Sync Read
INST_BULK_WRITE	:= 147 Instruction value of Bulk Write
COMM_SUCCESS	:= 0 Status of Communication Success
COMM_PORT_BUSY	:= -1000 Status of Port in use
COMM_TX_FAIL	:= -1001 Status of Transmit packet failed
COMM_RX_FAIL	:= -1002 Status of Receive packet failed
COMM_TX_ERROR	:= -2000 Status of Transmit packet error
COMM_RX_WAITING	:= -3000 Status of Receive packet waiting
COMM_RX_TIMEOUT	:= -3001 Status of Receive packet timeout
COMM_RX_CORRUPT	:= -3002 Status of Receive packet corrupt
COMM_NOT_AVAILABLE	:= -9000 Status of Unavailable in protocol 1.0

Method References

Protocol1 Packet Handler

Protocol2 Packet Handler

CPP Protocol1PacketHandler

• Description

  Child class for packet construction using Protocol 1.0.

• Members

  None

• Methods

Methods	Description
getInstance	Gets instance of this class
~Protocol1PacketHandler	None
getProtocolVersion	Gets Protocol version
printTxRxResult	Shows communication result
printRxPacketError	Shows hardware error
txPacket	Transmits the packet
rxPacket	Receives the packet
txRxPacket	Transmits and receives the packet
ping	Ping DYNAMIXEL
broadcastPing	Not available in Protocol 1.0
action	Commands ‘Run’ the Regwritten
regWrite	Writes the packets and wait for the ‘Action’ command
reboot	Not available in Protocol 1.0
factoryReset	Resets all DYNAMIXEL settings
readTx	Transmits N byte read instruction packet
readRx	Receives N byte read status packet
readTxRx	Transmits and receives N byte packet
read1ByteTx	Transmits 1 byte read instruction packet
read1ByteRx	Receives 1 byte read status packet
read1ByteTxRx	Transmits and receives 1 byte packet
read2ByteTx	Transmits 2 byte read instruction packet
read2ByteRx	Receives 2 byte read status packet
read2ByteTxRx	Transmits and receives 2 byte packet
read4ByteTx	Not available in Protocol 1.0
read4ByteRx	Not available in Protocol 1.0
read4ByteTxRx	Not available in Protocol 1.0
writeTxOnly	Transmits N byte write instruction packet
writeTxRx	Transmits and receives N byte packet
write1ByteTxOnly	Transmits 1 byte write instruction packet
write1ByteTxRx	Transmits and receives 1 byte packet
write2ByteTxOnly	Transmits 2 byte write instruction packet
write2ByteTxRx	Transmits and receives 2 byte packet
write4ByteTxOnly	Not available in Protocol 1.0
write4ByteTxRx	Not available in Protocol 1.0
regWriteTxOnly	Transmits register write instruction packet
regWriteTxRx	Transmits and receives register write packet
syncReadTx	Not available in Protocol 1.0
syncWriteTxOnly	Transmits N byte sync write Instruction packet
bulkReadTx	Transmits N byte bulk read Instruction packet
bulkWriteTxOnly	Not available in Protocol 1.0

• Enumerator

  None

Method References

getProtocolVersion

• Syntax

  float getProtocolVersion()
  

• Parameters

  None

• Detailed Description

  This function returns the protocol version set in the PacketHandler as a float value.

printTxRxResult

• Syntax

  void printTxRxResult(int result)
  

• Parameters

Parameters	Description
result	Communication result

• Detailed Description

  This function prints out on the console window what communication result value means.

printRxPacketError

• Syntax

  void printRxPacketError(uint8_t error)
  

• Parameters

Parameters	Description
error	Hardware error

• Detailed Description

  This function prints out on the console window what hardware error value means.

txPacket

• Syntax

   int txPacket(PortHandler *port, UINT8_T *txpacket)
  

• Parameters

Parameters	Description
port	PortHandler instance
txpacket	packet for transmission

• Detailed Description

  This function transmits the packet. The function clears the port by clearPort() function at first, and passes the txpacket to the writePort() function. The function activates while the port is not busy, and when the packet is written on the port buffer.

rxPacket

• Syntax

  int rxPacket(PortHandler *port, UINT8_T *rxpacket)
  

• Parameters

Parameters	Description
port	PortHandler instance
rxpacket	packet for reception

• Detailed Description

  This function repeatedly tries to receive packets by readPort() function until whole packets that it waits to get have arrived, or the packet wait time limit is over. After, it returns communication status value.

txRxPacket

• Syntax

  int txRxPacket(PortHandler *port, UINT8_T *txpacket, UINT8_T *rxpacket, UINT8_T *error = 0)
  

• Parameters

Parameters	Description
port	PortHandler instance
txpacket	packet for transmission
rxpacket	packet for reception
error	DYNAMIXEL error

• Detailed Description

  This function transmits and receives packets by txPacket() and rxPacket() functions. When txPacket() function succeeds to communicate, it will continue to rxPacket() and finishes the process if the packet succeeds to be received. In case of using the group handler functions for write, such as SyncWrite, and BulkWrite, they don’t use rxPacket(), so the function finishes its operation immediately after the txPacket(). Before the rxPacket(), it sets packet timeout if the packet instruction is INST_READ.

ping

• Syntax

  int ping (PortHandler *port, UINT8_T id, UINT8_T *error = 0)
  int ping (PortHandler *port, UINT8_T id, UINT16_T *model_number, UINT8_T *error = 0)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
error	DYNAMIXEL error

• Detailed Description

  This function constructs the transmission packet with INST_PING instruction, and txRxPacket(). Then, the function tries to get the model number of the DYNAMIXEL by ReadTxRx() function. When it succeeds to receive the packet, it makes the model number value by using DXL_MAKEWORD() to put two byte-type data together. Finally, it returns communication status value.

broadcastPing

• Syntax

  int broadcastPing(PortHandler *port, std::vector<UINT8_T> &id_list)
  

• Parameters

Parameters	Description
port	PortHandler instance
id_list	DYNAMIXEL ID list

• Detailed Description

  This function is not available with the DYNAMIXEL Protocol 1.0. It returns COMM_NOT_AVAILABLE status.

action

• Syntax

  int action(PortHandler *port, UINT8_T id)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID

• Detailed Description

  This function constructs the transmission packet with INST_ACTION instruction, and txRxPacket(). Before using this function, the orders for the DYNAMIXEL’s should be already written in the register in DYNAMIXEL by RegWrite function. Finally, it returns communication status value.

reboot

• Syntax

  int reboot(PortHandler *port, UINT8_T id, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
error	DYNAMIXEL error

• Detailed Description

  This function is not available with the DYNAMIXEL Protocol 1.0. It returns COMM_NOT_AVAILABLE status.

factoryReset

• Syntax

  int factoryReset(PortHandler *port, UINT8_T id, UINT8_T option, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
option	Reset option
error	DYNAMIXEL error

• Detailed Description

  This function constructs the transmission packet with INST_FACTORY_RESET instruction, and txRxPacket(). This resets all DYNAMIXEL settings to the factory default settings. The option is not available in DYNAMIXEL Protocol 1.0. Finally, it returns communication status.

readTx

• Syntax

  int readTx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

• Detailed Description

  This function constructs the transmission packet with INST_READ instruction, and txPacket(). Then the function calls setPacketTimeout() function when txPacket() succeeds. This function is not available for controlling more than one DYNAMIXEL. Finally, it returns communication status.

readRx

• Syntax

  int readRx(PortHandler *port, UINT16_T length, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
length	Packet length
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls rxPacket() function and gets the reception packet if the communication succeeds. Finally, it returns communication status value.

readTxRx

• Syntax

   int readTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls readTx() function and readRx() function. readRx() function will be called when readTx() succeeds. Finally, it returns communication status value.

read1ByteTx

• Syntax

  int read1ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  This function calls readTx() function for 1 Byte packet transmission. Finally, it returns communication status.

read1ByteRx

• Syntax

  int read1ByteRx(PortHandler *port, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls readRx() function for 1 Byte packet reception. Finally, it returns communication status.

read1ByteTxRx

• Syntax

   int read1ByteTxRx(PortHandler *port, UINT8_T id,UINT16_T address, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls read1ByteTx() function and read1ByteRx() function for 1 Byte packet transmission and reception. read1ByteRx() function will be called when read1ByteTx() succeeds. Finally, it returns communication status.

read2ByteTx

• Syntax

  int read2ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  This function calls readTx() function for 2 Byte packet transmission. Finally, it returns communication status.

read2ByteRx

• Syntax

   int read2ByteRx(PortHandler *port, UINT16_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls readRx() function for 2 Byte packet reception. Finally, it returns communication status.

read2ByteTxRx

• Syntax

   int read2ByteTxRx(PortHandler *port, UINT8_T id,UINT16_T address, UIN16_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls read2ByteTx() function and read2ByteRx() function for 2 Byte packet transmission and reception. read2ByteRx() function will be called when read2ByteTx() succeeds. Finally, it returns communication status.

read4ByteTx

• Syntax

  int read4ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  This function is not available with the DYNAMIXEL Protocol 1.0. It returns COMM_NOT_AVAILABLE status.

read4ByteRx

• Syntax

  int read4ByteRx(PortHandler *port, UINT32_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function is not available with the DYNAMIXEL Protocol 1.0. It returns COMM_NOT_AVAILABLE status.

read4ByteTxRx

• Syntax

  int read4ByteTxRx(PortHandler *port, UIN8_T id, UINT16_T address, UINT32_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function is not available with the DYNAMIXEL Protocol 1.0. It returns COMM_NOT_AVAILABLE status.

writeTxOnly

• Syntax

  int writeTxOnly(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length, UINT8_T *data)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	Data for write

• Detailed Description

  This function constructs the transmission packet with INST_WRITE instruction, and txPacket(). Finally, it returns communication status.

writeTxRx

• Syntax

  int writeTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function constructs the transmission packet with INST_WRITE instruction, and txRxPacket(). Finally, it returns communication status.

write1ByteTxOnly

• Syntax

  int write1ByteTxOnly(PortHandler *port, UINT8_T id, UINT16_T address, UINT8_T data)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

• Detailed Description

  This function calls writeTxOnly() function for 1 Byte packet. Finally, it returns communication status.

write1ByteTxRx

• Syntax

  int write1ByteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT8_T data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function calls writeTxRx() function for 1 Byte packet transmission and reception. Finally, it returns communication status.

write2ByteTxOnly

• Syntax

  int write2ByteTxOnly(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T data)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

• Detailed Description

  This function calls writeTxOnly() function for 2 Byte packet. Finally, it returns communication status.

write2ByteTxRx

• Syntax

   int write2ByteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function calls writeTxRx() function for 2Byte packet transmission and reception. Finally, it returns communication status.

write4ByteTxOnly

• Syntax

  int write1ByteTxOnly(PortHandler *port, UINT8_T id, UINT16_T address, UINT32_T data)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

• Detailed Description

  This function is not available with the DYNAMIXEL Protocol 1.0. It returns COMM_NOT_AVAILABLE status.

write4ByteTxRx

• Syntax

  int write4ByteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT32_T data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function is not available with the DYNAMIXEL Protocol 1.0. It returns COMM_NOT_AVAILABLE status.

regWriteTxOnly

• Syntax

   int RegWriteTxOnly(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length, UINT8_T *data)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	Data for write

• Detailed Description

  This function constructs the transmission packet with INST_REG_WRITE instruction, and txPacket(). Finally, it returns communication status.

regWriteTxRx

• Syntax

   int RegWriteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function constructs the transmission packet with INST_REG_WRITE instruction, and txRxPacket(). Finally, it returns communication status.

syncReadTx

• Syntax

  int syndReadTx(PortHandler *port, UINT16_T address, UINT16_T data_length, UINT8_T *param, UINT16_T param_length)
  

• Parameters

Parameters	Description
port	PortHandler instance
address	Address on the control table of DYNAMIXEL
data_length	Data length
param	Parameters
param_length	Parameter length

• Detailed Description

  This function is not available with the DYNAMIXEL Protocol 1.0. It returns COMM_NOT_AVAILABLE status.

syncWriteTxOnly

• Syntax

   int syncWriteTxOnly(PortHandler *port, UINT16_T start_address, UINT16_T data_length, UINT8_T *data, UINT16_T param_length)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data_length	Data length
data	Data for write
param_length	Parameter length

• Detailed Description

  This function constructs the transmission packet with INST_SYNC_WRITE instruction, and txRxPacket(). Finally, it returns communication status.

bulkReadTx

• Syntax

   int bulkReadTx(PortHandler *port, UINT8_T *param, UINT16_T param_length)
  

• Parameters

Parameters	Description
port	PortHandler instance
param	Parameters
param_length	Parameter length

• Detailed Description

  This function constructs the transmission packet with INST_BULK_READ instruction, and txPacket(). Then the function calls setPacketTimeout() function when txPacket() succeeds. Finally, it returns communication status.

bulkWriteTxOnly

• Syntax

   int bulkWriteTxOnly(PortHandler *port, UINT8_T *param, UINT16_T param_length)
  

• Parameters

Parameters	Description
port	PortHandler instance
param	Parameters
param_length	Parameter length

• Detailed Description

  This function is not available with the DYNAMIXEL Protocol 1.0. It returns COMM_NOT_AVAILABLE status.

CPP Protocol2PacketHandler

• Description

Child class for packet construction using Protocol 2.0.

• Members

None

• Methods

Methods	Description
getInstance	Gets instance of this class
~Protocol2PacketHandler	None
getProtocolVersion	Gets Protocol version
printTxRxResult	Shows communication result
printRxPacketError	Shows hardware error
txPacket	Transmits the packet
rxPacket	Receives the packet
txRxPacket	Transmits and receives the packet
ping	Ping DYNAMIXEL
broadcastPing	Ping all connected DYNAMIXEL’s
action	Commands ‘Run’ the Regwritten
regWrite	Writes the packets and wait for the ‘Action’ command
reboot	Reboots DYNAMIXEL
factoryReset	Resets all DYNAMIXEL settings
readTx	Transmits N byte read instruction packet
readRx	Receives N byte read status packet
readTxRx	Transmits and receives N byte packet
read1ByteTx	Transmits 1 byte read instruction packet
read1ByteRx	Receives 1 byte read status packet
read1ByteTxRx	Transmits and receives 1 byte packet
read2ByteTx	Transmits 2 byte read instruction packet
read2ByteRx	Receives 2 byte read status packet
read2ByteTxRx	Transmits and receives 2 byte packet
read4ByteTx	Transmits 4 byte read instruction packet
read4ByteRx	Receives 4 byte read status packet
read4ByteTxRx	Transmits and receives 4 byte packet
writeTxOnly	Transmits N byte write instruction packet
writeTxRx	Transmits and receives N byte packet
write1ByteTxOnly	Transmits 1 byte write instruction packet
write1ByteTxRx	Transmits and receives 1 byte packet
write2ByteTxOnly	Transmits 2 byte write instruction packet
write2ByteTxRx	Transmits and receives 2 byte packet
write4ByteTxOnly	Transmits 4 byte write instruction packet
write4ByteTxRx	Transmits and receives 4 byte packet
regWriteTxOnly	Transmits register write instruction packet
regWriteTxRx	Transmits and receives register write packet
syncReadTx	Transmits N byte sync read Instruction packet
syncWriteTxOnly	Transmits N byte sync write Instruction packet
bulkReadTx	Transmits N byte bulk read Instruction packet
bulkWriteTxOnly	Transmits N byte bulk write Instruction packet

• Enumerator

None

Method References

getProtocolVersion

• Syntax

  float getProtocolVersion()
  

• Parameters

  None

• Detailed Description

  This function returns the protocol version set in the PacketHandler as a float value.

printTxRxResult

• Syntax

  void printTxRxResult(int result)
  

• Parameters

Parameters	Description
result	Communication result

• Detailed Description

  This function prints out on the console window what communication result value means.

printRxPacketError

• Syntax

  void printRxPacketError(uint8_t error)
  

• Parameters

Parameters	Description
error	Hardware error

• Detailed Description

  This function prints out on the console window what hardware error value means.

txPacket

• Syntax

  int txPacket(PortHandler *port, UINT8_T *txpacket)
  

• Parameters

Parameters	Description
port	PortHandler instance
txpacket	packet for transmission

• Detailed Description

  This function transmits the packet. The function clears the port by clearPort() function at first, and passes the txpacket to the writePort() function. The function activates while the port is not busy, and when the packet is written on the port buffer.

rxPacket

• Syntax

  int rxPacket(PortHandler *port, UINT8_T *rxpacket)
  

• Parameters

Parameters	Description
port	PortHandler instance
rxpacket	packet for reception

• Detailed Description

  This function repeatedly tries to receive packets by readPort() function until whole packets that it waits to get have arrived, or the packet wait time limit is over. After, it returns communication status value.

txRxPacket

• Syntax

  int txRxPacket(PortHandler *port, UINT8_T *txpacket, UINT8_T *rxpacket, UINT8_T *error = 0)
  

• Parameters

Parameters	Description
port	PortHandler instance
txpacket	packet for transmission
rxpacket	packet for reception
error	DYNAMIXEL error

• Detailed Description

  This function transmits and receives packets by txPacket() and rxPacket() functions. When txPacket() function succeeds to communicate, it will continue to rxPacket() and finishes the process if the packet succeeds to be received. In case of using the group handler functions for write, such as SyncWrite, and BulkWrite, they don’t use rxPacket(), so the function finishes its operation immediately after the txPacket(). Before the rxPacket(), it sets packet timeout if the packet instruction is INST_READ.

ping

• Syntax

  int ping (PortHandler *port, UINT8_T id, UINT8_T *error = 0)
  int ping (PortHandler *port, UINT8_T id, UINT16_T *model_number, UINT8_T *error = 0)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
error	DYNAMIXEL error

• Detailed Description

  This function constructs the transmission packet with INST_PING instruction, and txRxPacket(). Then, the function tries to get the model number of the DYNAMIXEL by readTxRx() function. When it succeeds to receive the packet, it makes the model number value by using DXL_MAKEWORD() to put two byte-type data together. Finally, it returns communication status value.

broadcastPing

• Syntax

  int broadcastPing(PortHandler *port, std::vector<UINT8_T> &id_list)
  

• Parameters

Parameters	Description
port	PortHandler instance
id_list	DYNAMIXEL ID list

• Detailed Description

  This function finds all connected dynamixels and store the their id lists.

action

• Syntax

  int action(PortHandler *port, UINT8_T id)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID

• Detailed Description

  This function constructs the transmission packet with INST_ACTION instruction, and txRxPacket(). Before using this function, the orders for the DYNAMIXEL’s should be already written in the register in DYNAMIXEL by RegWrite function. Finally, it returns communication status value.

reboot

• Syntax

  int reboot(PortHandler *port, UINT8_T id, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
error	DYNAMIXEL error

• Detailed Description

  This function constructs the transmission packet with INST_REBOOT instruction, and txRxPacket(). Finally, it returns commnunication status.

factoryReset

• Syntax

  int factoryReset(PortHandler *port, UINT8_T id, UINT8_T option, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
option	Reset option
error	DYNAMIXEL error

• Detailed Description

  This function constructs the transmission packet with INST_FACTORY_RESET instruction, and txRxPacket(). This resets all DYNAMIXEL settings to the factory default settings. The option is not available in DYNAMIXEL Protocol 1.0. Finally, it returns communication status.

readTx

• Syntax

  int readTx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length

• Detailed Description

  This function constructs the transmission packet with INST_READ instruction, and txPacket(). Then the function calls setPacketTimeout() function when txPacket() succeeds. This function is not available for controlling more than one DYNAMIXEL. Finally, it returns communication status.

readRx

• Syntax

  int readRx(PortHandler *port, UINT16_T length, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
length	Packet length
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls rxPacket() function and gets the reception packet if the communication succeeds. Finally, it returns communication status value.

readTxRx

• Syntax

  int readTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls readTx() function and readRx() function. readRx() function will be called when readTx() succeeds. Finally, it returns communication status value.

read1ByteTx

• Syntax

  int read1ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  This function calls readTx() function for 1 Byte packet transmission. Finally, it returns communication status.

read1ByteRx

• Syntax

  int read1ByteRx(PortHandler *port, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls readRx() function for 1 Byte packet reception. Finally, it returns communication status.

read1ByteTxRx

• Syntax

  int read1ByteTxRx(PortHandler *port, UINT8_T id,UINT16_T address, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls read1ByteTx() function and read1ByteRx() function for 1 Byte packet transmission and reception. read1ByteRx() function will be called when read1ByteTx() succeeds. Finally, it returns communication status.

openPort

• Syntax

  int read2ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  This function calls readTx() function for 2 Byte packet transmission. Finally, it returns communication status.

read2ByteRx

• Syntax

  int read2ByteRx(PortHandler *port, UINT16_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls readRx() function for 2 Byte packet reception. Finally, it returns communication status.

read2ByteTxRx

• Syntax

  int read2ByteTxRx(PortHandler *port, UINT8_T id,UINT16_T address, UIN16_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls read2ByteTx() function and read2ByteRx() function for 2 Byte packet transmission and reception. read2ByteRx() function will be called when read2ByteTx() succeeds. Finally, it returns communication status.

read4ByteTx

• Syntax

  int read4ByteTx(PortHandler *port, UINT8_T id, UINT16_T address)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL

• Detailed Description

  This function calls readTx() function for 4 Byte packet transmission. Finally, it returns communication status.

read4ByteRx

• Syntax

  int read4ByteRx(PortHandler *port, UINT32_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
data	Packet data
error	DYNAMIXEL error

• Detailed Description

  This function calls readRx() function for 4 Byte packet reception. Finally, it returns communication status.

read4ByteTxRx

• Syntax

  int read4ByteTxRx(PortHandler *port, UIN8_T id, UINT16_T address, UINT32_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function calls read4ByteTx() function and read4ByteRx() function for 4 Byte packet transmission and reception. read4ByteRx() function will be called when read4ByteTx() succeeds. Finally, it returns communication status.

writeTxOnly

• Syntax

  int writeTxOnly(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length, UINT8_T *data)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	Data for write

• Detailed Description

  This function constructs the transmission packet with INST_WRITE instruction, and txPacket(). Finally, it returns communication status.

writeTxRx

• Syntax

  int writeTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function constructs the transmission packet with INST_WRITE instruction, and txRxPacket(). Finally, it returns communication status.

write1ByteTxOnly

• Syntax

  int write1ByteTxOnly(PortHandler *port, UINT8_T id, UINT16_T address, UINT8_T data)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

• Detailed Description

  This function calls writeTxOnly() function for 1 Byte packet. Finally, it returns communication status.

write1ByteTxRx

• Syntax

  int write1ByteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT8_T data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function calls writeTxRx() function for 1 Byte packet transmission and reception. Finally, it returns communication status.

write2ByteTxOnly

• Syntax

  int write2ByteTxOnly(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T data)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

• Detailed Description

  This function calls writeTxOnly() function for 2 Byte packet. Finally, it returns communication status.

write2ByteTxRx

• Syntax

  int write2ByteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function calls writeTxRx() function for 2 Byte packet transmission and reception. Finally, it returns communication status.

write4ByteTxOnly

• Syntax

  int write1ByteTxOnly(PortHandler *port, UINT8_T id, UINT16_T address, UINT32_T data)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write

• Detailed Description

  This function calls writeTxOnly() function for 4 Byte packet. Finally, it returns communication status.

write4ByteTxRx

• Syntax

  int write4ByteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT32_T data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function calls writeTxRx() function for 4 Byte packet transmission and reception. Finally, it returns communication status.

regWriteTxOnly

• Syntax

  int regWriteTxOnly(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length, UINT8_T *data)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	Data for write

• Detailed Description

  This function constructs the transmission packet with INST_REG_WRITE instruction, and txPacket(). Finally, it returns communication status.

regWriteTxRx

• Syntax

  int regWriteTxRx(PortHandler *port, UINT8_T id, UINT16_T address, UINT16_T length, UINT8_T *data, UINT8_T *error)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
length	Packet length
data	Data for write
error	DYNAMIXEL error

• Detailed Description

  This function constructs the transmission packet with INST_REG_WRITE instruction, and txRxPacket(). Finally, it returns communication status.

syncReadTx

• Syntax

  int syndReadTx(PortHandler *port, UINT16_T address, UINT16_T data_length, UINT8_T *param, UINT16_T param_length)
  

• Parameters

Parameters	Description
port	PortHandler instance
address	Address on the control table of DYNAMIXEL
data_length	Data length
param	Parameters
param_length	Parameter length

• Detailed Description

  This function constructs the transmission packet with INST_SYNC_READ instruction, and txPacket(). Then the function calls setPacketTimeout() function when txPacket() succeeds. Finally, it returns communication status.

syncWriteTxOnly

• Syntax

  int syncWriteTxOnly(PortHandler *port, UINT16_T start_address, UINT16_T data_length, UINT8_T *data, UINT16_T param_length)
  

• Parameters

Parameters	Description
port	PortHandler instance
id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data_length	Data length
data	Data for write
param_length	Parameter length

• Detailed Description

  This function constructs the transmission packet with INST_SYNC_WRITE instruction, and txRxPacket(). Finally, it returns communication status.

bulkReadTx

• Syntax

  int bulkReadTx(PortHandler *port, UINT8_T *param, UINT16_T param_length)
  

• Parameters

Parameters	Description
port	PortHandler instance
param	Parameters
param_length	Parameter length

• Detailed Description

  This function constructs the transmission packet with INST_BULK_READ instruction, and txPacket(). Then the function calls setPacketTimeout() function when txPacket() succeeds. Finally, it returns communication status.

bulkWriteTxOnly

• Syntax

  int bulkWriteTxOnly(PortHandler *port, UINT8_T *param, UINT16_T param_length)
  

• Parameters

Parameters	Description
port	PortHandler instance
param	Parameters
param_length	Parameter length

• Detailed Description

  This function constructs the transmission packet with INST_BULK_WRITE instruction, and txRxPacket(). Finally, it returns communication status.