CSharp GroupSyncRead
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Description
Base functions for simultaneous dynamixel control on reading to same length data on same control table address. The function is unavailable in protocol 1.0.
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Members
None
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Methods
Methods | Description |
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groupSyncRead | Initializes members of packet data pointer struct |
groupSyncReadAddParam | Adds parameter storage for read |
groupSyncReadRemoveParam | Removes parameter on the storage |
groupSyncReadClearParam | Clears parameter storage |
groupSyncReadTxPacket | Transmits packet to the number of DYNAMIXEL’s |
groupSyncReadRxPacket | receives packet from the number of DYNAMIXEL’s |
groupSyncReadTxRxPacket | Transmits and receives packet on the number of DYNAMIXEL’s |
groupSyncReadIsAvailable | Checks whether there is available data in the data storage |
groupSyncReadGetData | Gets data from received packet |
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Enumerator
None
Method References
groupSyncRead
- Syntax
int groupSyncRead(int port_num, int protocol_version, UInt16 start_address, UInt16 data_length)
- Parameters
Parameters | Description |
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port_num | Port number |
protocol_version | Protocol version |
start_address | Control table address to start reading data |
data_length | Total data length |
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Detailed Description
This function initializes the parameters for packet construction. The function resizes groupData struct and initialzes struct members.
groupSyncReadAddParam
- Syntax
bool groupSyncReadAddParam(int group_num, byte id)
- Parameters
Parameters | Description |
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group_num | Group number |
id | DYNAMIXEL ID |
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Detailed Description
This function pushes id to the DYNAMIXEL ID list, and initializes #
group_num
parameter storage It returns false when the class uses Protocol 1.0, or it returns true.
groupSyncReadRemoveParam
- Syntax
void groupSyncReadRemoveParam(int group_num, byte id)
- Parameters
Parameters | Description |
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group_num | Group number |
id | DYNAMIXEL ID |
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Detailed Description
This function removes id and its data for write in the #
group_num
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.
groupSyncReadClearParam
- Syntax
void groupSyncReadClearParam(int group_num)
- Parameters
Parameters | Description |
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group_num | Group number |
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Detailed Description
This function clears #
group_num
DYNAMIXEL ID list. It returns false when the class uses Protocol 1.0, or returns true.
groupSyncReadTxPacket
- Syntax
int groupSyncReadTxPacket(int group_num)
- Parameters
Parameters | Description |
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group_num | Group number |
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Detailed Description
This function transmits the packet by using
SyncReadTx
function. The communication result and the hardware error are available when the function is terminated.
groupSyncReadRxPacket
- Syntax
int groupSyncReadRxPacket(int group_num)
- Parameters
Parameters | Description |
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group_num | Group number |
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Detailed Description
This function receives the packet by using
ReadRx
function. The communication result and the hardware error are available when the function is terminated.
groupSyncReadTxRxPacket
- Syntax
int groupSyncReadTxRxPacket(int group_num)
- Parameters
Parameters | Description |
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group_num | Group number |
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Detailed Description
This function transmits and receives the packet by using
TxPacket
function andRxPacket
function. The communication result and the hardware error are available when the function is terminated.
##### groupSyncReadIsAvailable
- Syntax
bool groupSyncReadIsAvailable(int group_num, byte id, UInt16 address, UInt16 data_length)
- Parameters
Parameters | Description |
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id | DYNAMIXEL ID |
address | Address on the control table of DYNAMIXEL |
data | Packet data |
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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.
groupSyncReadGetData
- Syntax
UInt32 groupSyncReadGetData(int group_num, byte id, UInt16 address, UInt16 data_length)
- Parameters
Parameters | Description |
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group_num | Group number |
id | DYNAMIXEL ID |
address | Address on the control table of DYNAMIXEL |
data | Packet data |
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Detailed Description
This function gets specific data from received packet. It returns false when the class uses Protocol 1.0 or there is no data from target address, or returns true.