Edit on GitHub

Matlab GroupSyncWrite

  • Description

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

  • Members

    None

  • Methods

Methods Description
groupSyncWrite Initializes members of packet data pointer struct
groupSyncWriteAddParam Adds parameter storage for read
groupSyncWriteRemoveParam Removes parameter on the storage
groupSyncWriteChangeParam Changes parameter on the storage
groupSyncWriteClearParam Clears parameter storage
groupSyncWriteTxPacket Transmits packet to the number of DYNAMIXEL’s

  • Enumerator

    None

Method References

groupSyncWrite
  • Syntax 
    int groupSyncWrite(int port_num, int protocol_version, int start_address, int data_length)
  • Parameters
Parameters Description
port_num Port number
protocol_version Protocol version
start_address Control table address to start writing data
data_length Total data length

  • Detailed Description

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

groupSyncWriteAddParam
  • Syntax 
    bool groupSyncWriteAddParam(int group_num, int id, int data, int input_length)
  • Parameters
Parameters Description
group_num Group number
id DYNAMIXEL ID
data Data for write
input_length Input data length

  • Detailed Description

    This function pushes id to the DYNAMIXEL ID list, and initializes #group_num parameter storage by adding input_length bytes data. 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.

groupSyncWriteRemoveParam
  • Syntax 
    void groupSyncWriteRemoveParam(int group_num, int 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.

groupSyncWriteChangeParam
  • Syntax 
    bool groupSyncWriteChangeParam(int group_num, int id, int data, int input_length, int data_pos)
  • Parameters
Parameters Description
group_num Group number
id DYNAMIXEL ID
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.

groupSyncWriteClearParam
  • Syntax 
    void groupSyncWriteClearParam(int group_num)

  • Parameters

    None

  • Detailed Description

    This function clears #group_num DYNAMIXEL ID list.

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

  • Detailed Description

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