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Python GroupSyncRead

• 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.

• Members

  None

• Methods

Methods	Description
GroupSyncRead	Initializes members of packet data pointer struct
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

GroupSyncRead

• Syntax

  GroupSyncRead(port, ph, start_address, data_length)
  

• Parameters

Parameters	Description
port	PortHandler instance
ph	PacketHandler instance
start_address	Control table address to start reading 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.

addParam

• Syntax

  addParam(dxl_id)
  

• Parameters

Parameters	Description
dxl_id	DYNAMIXEL ID

• Detailed Description

  This function pushes id to the DYNAMIXEL ID list, and initializes parameter storage It returns false when the class uses Protocol 1.0, or it returns true.

removeParam

• Syntax

  removeParam(dxl_id)
  

• Parameters

Parameters	Description
dxl_id	DYNAMIXEL ID

• Detailed Description

  This function removes id and its data for write 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

  clearParam()
  

• Parameters

None

• Detailed Description

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

txPacket

• Syntax

  txPacket()
  

• Parameters

None

• 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.

rxPacket

• Syntax

  rxPacket()
  

• Parameters

None

• 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.

txRxPacket

• Syntax

  txRxPacket()
  

• Parameters

None

• Detailed Description

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

##### isAvailable

• Syntax

   isAvailable(dxl_id, address, data_length)
  

• Parameters

Parameters	Description
dxl_id	DYNAMIXEL ID
address	Address on the control table of DYNAMIXEL
data_length	data length

• 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

  getData(dxl_id, address, data_length)
  

• Parameters

Parameters	Description
dxl_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 false when the class uses Protocol 1.0 or there is no data from target address, or returns true.