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Java GroupBulkWrite

  • Description

    Base functions for simultaneous dynamixel control on writing to different length data on different control table address.

  • Members

    None

  • Methods

Methods Description
groupBulkWrite Initializes members of packet data pointer struct
groupBulkWriteAddParam Adds parameter storage for read
groupBulkWriteRemoveParam Removes parameter on the storage
groupBulkWriteChangeParam Changes parameter on the storage
groupBulkWriteClearParam Clears parameter storage
groupBulkWriteTxPacket Transmits packet to the number of DYNAMIXEL’s

  • Enumerator

    None

Method References

groupBulkWrite
  • Syntax 
    int groupBulkWrite(int port_num, int protocol_version)
  • Parameters
Parameters Description
port_num Port number
protocol_version Protocol version

  • Detailed Description

    This function initializes the parameters for packet construction. The function resizes groupData struct and initialzes struct members.

groupBulkWriteAddParam
  • Syntax 
    Boolean groupBulkWriteAddParam(int group_num, byte id, short start_address, short data_length, int data, short input_length)
  • Parameters
Parameters Description
group_num Group number
id DYNAMIXEL ID
start_address Start address
data_length Data length
data Data for write
input_length Input data length

  • Detailed Description

    This function pushes id into the DYNAMIXEL ID list, and initializes #group_num parameter storage by setting start_address and param_length. The function deals with 1, 2 or 4 byte data only. The function returns false when the length of input data exceeds parameter or wrong length, or returns true.

groupBulkWriteRemoveParam
  • Syntax 
    void groupBulkWriteRemoveParam(int group_num, byte id)
  • Parameters
Parameters Description
group_num Group number
id DYNAMIXEL ID

  • Detailed Description

    This function removes id and its data for write in the #group_num DYNAMIXEL ID list. The function returns false when no data is in the parameter storage, or returns true.

groupBulkWriteChangeParam
  • Syntax 
     Boolean groupBulkWriteChangeParam(int group_num, byte id, short start_address, short data_length, int data, short input_length, short data_pos)
  • Parameters
Parameters Description
group_num Group number
id DYNAMIXEL ID
start_address Start address
data_length Data length
data data for write
input_length Input data length
data_pos Data position in the array

  • Detailed Description

    This function pushes new data_length bytes data into #group_num parameter storage of same id. The function returns false when the target ID doesn’t exists in the ID list, or returns true.

groupBulkWriteClearParam
  • Syntax 
    void groupBulkWriteClearParam(int group_num)
  • Parameters
Parameters Description
group_num Group number

  • Detailed Description

    This function clears #group_num DYNAMIXEL ID list.

groupBulkWriteTxPacket
  • Syntax 
    int groupBulkWriteTxPacket(int group_num)
  • Parameters
Parameters Description
group_num Group number

  • Detailed Description

    This function transmits the packet by using BulkWriteTxOnly function. The communication result and the hardware error are available when the function is terminated.