DYNAMIXEL SDK

CSharp Sync Write Protocol 1.0

Description

This example writes Goal Positions to two DYNAMIXEL’s simultaneously and reads their Present Positions until they stop moving. The funtions that - Description

This example writes goal positions to two DYNAMIXEL’s simultaneously and repeats to read each present positions until DYNAMIXEL stop moving. The funtions that are related with the Syncwrite handle the number of items that are near to each other in the Dynamixel control table on multiple DYNAMIXEL’s, such as the goal position and the goal velocity.
Available Dynamixel

All series using protocol 1.0

Sample code Parts

/*
 * SyncWrite.cs
 *
 *  Created on: 2016. 6. 20.
 *      Author: Ryu Woon Jung (Leon)
 */

//
// *********     Sync Write Example      *********
//
//
// Available Dynamixel model on this example : All models using Protocol 1.0
// This example is designed for using two Dynamixel MX-28, and an USB2DYNAMIXEL.
// To use another Dynamixel model, such as X series, see their details in E-Manual(support.robotis.com) and edit below variables yourself.
// Be sure that Dynamixel MX properties are already set as %% ID : 1 / Baudnum : 1 (Baudrate : 1000000 [1M])
//

using System;
using dynamixel_sdk;

namespace sync_write
{
  class SyncWrite
  {
    // Control table address
    public const int ADDR_MX_TORQUE_ENABLE           = 24;                  // Control table address is different in Dynamixel model
    public const int ADDR_MX_GOAL_POSITION           = 30;
    public const int ADDR_MX_PRESENT_POSITION        = 36;

    // Data Byte Length
    public const int LEN_MX_GOAL_POSITION            = 2;
    public const int LEN_MX_PRESENT_POSITION         = 2;

    // Protocol version
    public const int PROTOCOL_VERSION                = 1;                   // See which protocol version is used in the Dynamixel

    // Default setting
    public const int DXL1_ID                         = 1;                   // Dynamixel ID: 1
    public const int DXL2_ID                         = 2;                   // Dynamixel ID: 2
    public const int BAUDRATE                        = 1000000;
    public const string DEVICENAME                   = "/dev/ttyUSB0";      // Check which port is being used on your controller
                                                                            // ex) "COM1"   Linux: "/dev/ttyUSB0"

    public const int TORQUE_ENABLE                   = 1;                   // Value for enabling the torque
    public const int TORQUE_DISABLE                  = 0;                   // Value for disabling the torque
    public const int DXL_MINIMUM_POSITION_VALUE      = 100;                 // Dynamixel will rotate between this value
    public const int DXL_MAXIMUM_POSITION_VALUE      = 4000;                // and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
    public const int DXL_MOVING_STATUS_THRESHOLD     = 10;                  // Dynamixel moving status threshold

    public const byte ESC_ASCII_VALUE                = 0x1b;

    public const int COMM_SUCCESS                    = 0;                   // Communication Success result value
    public const int COMM_TX_FAIL                    = -1001;               // Communication Tx Failed

    static void Main(string[] args)
    {
      // Initialize PortHandler Structs
      // Set the port path
      // Get methods and members of PortHandlerLinux or PortHandlerWindows
      int port_num = dynamixel.portHandler(DEVICENAME);

      // Initialize PacketHandler Structs
      dynamixel.packetHandler();

      // Initialize Groupsyncwrite instance
      int group_num = dynamixel.groupSyncWrite(port_num, PROTOCOL_VERSION, ADDR_MX_GOAL_POSITION, LEN_MX_GOAL_POSITION);

      int index = 0;
      int dxl_comm_result = COMM_TX_FAIL;                                   // Communication result
      bool dxl_addparam_result = false;                                     // AddParam result
      UInt16[] dxl_goal_position = new UInt16[2]{ DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE }; // Goal position

      byte dxl_error = 0;                                                   // Dynamixel error
      UInt16 dxl1_present_position = 0, dxl2_present_position = 0;          // Present position

      // Open port
      if (dynamixel.openPort(port_num))
      {
        Console.WriteLine("Succeeded to open the port!");
      }
      else
      {
        Console.WriteLine("Failed to open the port!");
        Console.WriteLine("Press any key to terminate...");
        Console.ReadKey();
        return;
      }

      // Set port baudrate
      if (dynamixel.setBaudRate(port_num, BAUDRATE))
      {
        Console.WriteLine("Succeeded to change the baudrate!");
      }
      else
      {
        Console.WriteLine("Failed to change the baudrate!");
        Console.WriteLine("Press any key to terminate...");
        Console.ReadKey();
        return;
      }

      // Enable Dynamixel#1 Torque
      dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE);
      if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
      {
        dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
      }
      else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
      {
        dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
      }
      else
      {
        Console.WriteLine("Dynamixel{0} has been successfully connected ", DXL1_ID);
      }

      // Enable Dynamixel#2 Torque
      dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE);
      if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
      {
        dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
      }
      else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
      {
        dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
      }
      else
      {
        Console.WriteLine("Dynamixel{0} has been successfully connected ", DXL1_ID);
      }

      while (true)
      {
        Console.WriteLine("Press any key to continue! (or press ESC to quit!)");
        if (Console.ReadKey().KeyChar == ESC_ASCII_VALUE)
          break;

        // Add Dynamixel#1 goal position value to the Syncwrite storage
        dxl_addparam_result = dynamixel.groupSyncWriteAddParam(group_num, DXL1_ID, dxl_goal_position[index], LEN_MX_GOAL_POSITION);
        if (dxl_addparam_result != true)
        {
          Console.WriteLine("[ID: {0}] groupSyncWrite addparam failed", DXL1_ID);
          return;
        }

        // Add Dynamixel#2 goal position value to the Syncwrite parameter storage
        dxl_addparam_result = dynamixel.groupSyncWriteAddParam(group_num, DXL2_ID, dxl_goal_position[index], LEN_MX_GOAL_POSITION);
        if (dxl_addparam_result != true)
        {
          Console.WriteLine("[ID: {0}] groupSyncWrite addparam failed", DXL2_ID);
          return;
        }

        // Syncwrite goal position
        dynamixel.groupSyncWriteTxPacket(group_num);
        if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
          dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);

        // Clear syncwrite parameter storage
        dynamixel.groupSyncWriteClearParam(group_num);

        do
        {
          // Read Dynamixel#1 present position
          dxl1_present_position = dynamixel.read2ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_MX_PRESENT_POSITION);
          if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
          {
            dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
          }
          else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
          {
            dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
          }

          // Read Dynamixel#2 present position
          dxl2_present_position = dynamixel.read2ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_MX_PRESENT_POSITION);
          if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
          {
            dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
          }
          else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
          {
            dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
          }

          Console.WriteLine("[ID: {0}] GoalPos: {1}  PresPos: {2} [ID: {3}] GoalPos: {4}  PresPos: {5}", DXL1_ID, dxl_goal_position[index], dxl1_present_position, DXL2_ID, dxl_goal_position[index], dxl2_present_position);


        } while ((Math.Abs(dxl_goal_position[index] - dxl1_present_position) > DXL_MOVING_STATUS_THRESHOLD) || (Math.Abs(dxl_goal_position[index] - dxl2_present_position) > DXL_MOVING_STATUS_THRESHOLD));

        // Change goal position
        if (index == 0)
        {
          index = 1;
        }
        else
        {
          index = 0;
        }
      }

      // Disable Dynamixel#1 Torque
      dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE);
      if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
      {
        dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
      }
      else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
      {
        dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
      }

      // Disable Dynamixel#2 Torque
      dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE);
      if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
      {
        dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
      }
      else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
      {
        dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
      }

      // Close port
      dynamixel.closePort(port_num);

      return;
    }
  }
}

Details

using System;

The functions Math.Abs(), Console.* for I/O, are in the example code, and it uses System namespace.

using dynamixel_sdk;

All libraries of DYNAMIXEL SDK are wrapped into the dynamixel_sdk namespace.

// Control table address
public const int ADDR_MX_TORQUE_ENABLE           = 24;                  // Control table address is different in Dynamixel model
public const int ADDR_MX_GOAL_POSITION           = 30;
public const int ADDR_MX_PRESENT_POSITION        = 36;

// Data Byte Length
public const int LEN_MX_GOAL_POSITION            = 2;
public const int LEN_MX_PRESENT_POSITION         = 2;

Dynamixel series have their own control tables: Addresses and Byte Length in each items. To control one of the items, its address (and length if necessary) is required. Find your requirements in http://emanual.robotis.com/.

// Protocol version
public const int PROTOCOL_VERSION                = 1;                   // See which protocol version is used in the Dynamixel

Dynamixel uses either or both protocols: Protocol 1.0 and Protocol 2.0. Choose one of the Protocol which is appropriate in the Dynamixel.

// Default setting
public const int DXL1_ID                         = 1;                   // Dynamixel ID: 1
public const int DXL2_ID                         = 2;                   // Dynamixel ID: 2
public const int BAUDRATE                        = 1000000;
public const string DEVICENAME                   = "/dev/ttyUSB0";      // Check which port is being used on your controller
                                                                        // ex) "COM1"   Linux: "/dev/ttyUSB0"

public const int TORQUE_ENABLE                   = 1;                   // Value for enabling the torque
public const int TORQUE_DISABLE                  = 0;                   // Value for disabling the torque
public const int DXL_MINIMUM_POSITION_VALUE      = 100;                 // Dynamixel will rotate between this value
public const int DXL_MAXIMUM_POSITION_VALUE      = 4000;                // and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
public const int DXL_MOVING_STATUS_THRESHOLD     = 10;                  // Dynamixel moving status threshold

public const byte ESC_ASCII_VALUE                = 0x1b;

Here we set some variables to let you freely change them and use them to run the example code.

As the document previously said in previous chapter, customize Dynamixel control table items, such as DXL_ID number, communication BAUDRATE, and the DEVICENAME, on your own terms of needs. In particular, BAUDRATE and DEVICENAME have systematical dependencies on your controller, so make clear what kind of communication method you will use.

The example uses two DYNAMIXEL’s DXL1_ID, DXL2_ID connected with the port DEVICENAME.

Dynamixel basically needs the TORQUE_ENABLE to be rotating or give you its internal information. On the other hand, it doesn’t need torque enabled if you get your goal, so finally do TORQUE_DISABLE to prepare to the next sequence.

Since the Dynamixel has its own rotation range, it may shows malfunction if your request on your dynamixel is out of range. For example, Dynamixel MX-28 and Dynamixel PRO 54-200 has its rotatable range as 0 ~ 4028 and -250950 ~ 250950, each.

DXL_MOVING_STATUS_THRESHOLD acts as a criteria for verifying its rotation stopped.

public const int COMM_SUCCESS                    = 0;                   // Communication Success result value
public const int COMM_TX_FAIL                    = -1001;               // Communication Tx Failed

Each of the variables above show the meaning of the communication result value.

static void Main(string[] args)
{
  // Initialize PortHandler Structs
  // Set the port path
  // Get methods and members of PortHandlerLinux or PortHandlerWindows
  int port_num = dynamixel.portHandler(DEVICENAME);

  // Initialize PacketHandler Structs
  dynamixel.packetHandler();

  // Initialize Groupsyncwrite instance
  int group_num = dynamixel.groupSyncWrite(port_num, PROTOCOL_VERSION, ADDR_MX_GOAL_POSITION, LEN_MX_GOAL_POSITION);

  int index = 0;
  int dxl_comm_result = COMM_TX_FAIL;                                   // Communication result
  bool dxl_addparam_result = false;                                     // AddParam result
  UInt16[] dxl_goal_position = new UInt16[2]{ DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE }; // Goal position

  byte dxl_error = 0;                                                   // Dynamixel error
  UInt16 dxl1_present_position = 0, dxl2_present_position = 0;          // Present position

  // Open port
  if (dynamixel.openPort(port_num))
  {
    Console.WriteLine("Succeeded to open the port!");
  }
  else
  {
    Console.WriteLine("Failed to open the port!");
    Console.WriteLine("Press any key to terminate...");
    Console.ReadKey();
    return;
  }

  // Set port baudrate
  if (dynamixel.setBaudRate(port_num, BAUDRATE))
  {
    Console.WriteLine("Succeeded to change the baudrate!");
  }
  else
  {
    Console.WriteLine("Failed to change the baudrate!");
    Console.WriteLine("Press any key to terminate...");
    Console.ReadKey();
    return;
  }

  // Enable Dynamixel#1 Torque
  dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE);
  if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
  {
    dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
  }
  else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
  {
    dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
  }
  else
  {
    Console.WriteLine("Dynamixel{0} has been successfully connected ", DXL1_ID);
  }

  // Enable Dynamixel#2 Torque
  dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE);
  if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
  {
    dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
  }
  else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
  {
    dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
  }
  else
  {
    Console.WriteLine("Dynamixel{0} has been successfully connected ", DXL1_ID);
  }

  while (true)
  {
    Console.WriteLine("Press any key to continue! (or press ESC to quit!)");
    if (Console.ReadKey().KeyChar == ESC_ASCII_VALUE)
      break;

    // Add Dynamixel#1 goal position value to the Syncwrite storage
    dxl_addparam_result = dynamixel.groupSyncWriteAddParam(group_num, DXL1_ID, dxl_goal_position[index], LEN_MX_GOAL_POSITION);
    if (dxl_addparam_result != true)
    {
      Console.WriteLine("[ID: {0}] groupSyncWrite addparam failed", DXL1_ID);
      return;
    }

    // Add Dynamixel#2 goal position value to the Syncwrite parameter storage
    dxl_addparam_result = dynamixel.groupSyncWriteAddParam(group_num, DXL2_ID, dxl_goal_position[index], LEN_MX_GOAL_POSITION);
    if (dxl_addparam_result != true)
    {
      Console.WriteLine("[ID: {0}] groupSyncWrite addparam failed", DXL2_ID);
      return;
    }

    // Syncwrite goal position
    dynamixel.groupSyncWriteTxPacket(group_num);
    if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
      dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);

    // Clear syncwrite parameter storage
    dynamixel.groupSyncWriteClearParam(group_num);

    do
    {
      // Read Dynamixel#1 present position
      dxl1_present_position = dynamixel.read2ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_MX_PRESENT_POSITION);
      if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
      {
        dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
      }
      else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
      {
        dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
      }

      // Read Dynamixel#2 present position
      dxl2_present_position = dynamixel.read2ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_MX_PRESENT_POSITION);
      if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
      {
        dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
      }
      else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
      {
        dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
      }

      Console.WriteLine("[ID: {0}] GoalPos: {1}  PresPos: {2} [ID: {3}] GoalPos: {4}  PresPos: {5}", DXL1_ID, dxl_goal_position[index], dxl1_present_position, DXL2_ID, dxl_goal_position[index], dxl2_present_position);


    } while ((Math.Abs(dxl_goal_position[index] - dxl1_present_position) > DXL_MOVING_STATUS_THRESHOLD) || (Math.Abs(dxl_goal_position[index] - dxl2_present_position) > DXL_MOVING_STATUS_THRESHOLD));

    // Change goal position
    if (index == 0)
    {
      index = 1;
    }
    else
    {
      index = 0;
    }
  }

  // Disable Dynamixel#1 Torque
  dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE);
  if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
  {
    dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
  }
  else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
  {
    dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
  }

  // Disable Dynamixel#2 Torque
  dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE);
  if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
  {
    dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
  }
  else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
  {
    dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
  }

  // Close port
  dynamixel.closePort(port_num);

  return;
}

In Main() function, the codes call actual functions for Dynamixel control.

// Initialize PortHandler Structs
// Set the port path
// Get methods and members of PortHandlerLinux or PortHandlerWindows
int port_num = dynamixel.portHandler(DEVICENAME);

portHandler() function sets port path as DEVICENAME and get port_num, and prepares an appropriate functions for port control in controller OS automatically. port_num would be used in many functions in the body of the code to specify the port for use.

// Initialize PacketHandler Structs
dynamixel.packetHandler();

packetHandler() function initializes parameters used for packet construction and packet storing.

// Initialize Groupsyncwrite instance
int group_num = dynamixel.groupSyncWrite(port_num, PROTOCOL_VERSION, ADDR_MX_GOAL_POSITION, LEN_MX_GOAL_POSITION);

groupSyncWrite() function initializes grouped parameters used for packet construction and packet storing. The utility functions of sync write deals simultaneously with more than one Dynamixel through #port_num port, building packets by the function which uses PROTOCOL_VERSION, and writing LEN_MX_GOAL_POSITION bytes of the values on the address ADDR_MX_GOAL_POSITION.

int index = 0;
int dxl_comm_result = COMM_TX_FAIL;                                   // Communication result
bool dxl_addparam_result = false;                                     // AddParam result
UInt16[] dxl_goal_position = new UInt16[2]{ DXL_MINIMUM_POSITION_VALUE, DXL_MAXIMUM_POSITION_VALUE }; // Goal position

byte dxl_error = 0;                                                   // Dynamixel error
UInt16 dxl1_present_position = 0, dxl2_present_position = 0;          // Present position

index variable points the direction to where the Dynamixel should be rotated.

dxl_comm_result indicates which error has been occurred during packet communication.

dxl_addparam_result indicates the result of parameter addition used for sync/bulk related functions

dxl_goal_position stores goal points of Dynamixel rotation.

dxl_error shows the internal error in Dynamixel.

dxl1_present_position and dxl2_present_position view where now each Dynamixel points out.

// Open port
if (dynamixel.openPort(port_num))
{
  Console.WriteLine("Succeeded to open the port!");
}
else
{
  Console.WriteLine("Failed to open the port!");
  Console.WriteLine("Press any key to terminate...");
  Console.ReadKey();
  return;
}

First, controller opens #port_num port to do serial communication with the Dynamixel. If it fails to open the port, the example will be terminated.

// Set port baudrate
if (dynamixel.setBaudRate(port_num, BAUDRATE))
{
  Console.WriteLine("Succeeded to change the baudrate!");
}
else
{
  Console.WriteLine("Failed to change the baudrate!");
  Console.WriteLine("Press any key to terminate...");
  Console.ReadKey();
  return;
}

Secondly, the controller sets the communication BAUDRATE at #port_num port opened previously.

// Enable Dynamixel#1 Torque
dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE);
if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
  dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
}
else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
  dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
}
else
{
  Console.WriteLine("Dynamixel{0} has been successfully connected ", DXL1_ID);
}

// Enable Dynamixel#2 Torque
dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_ENABLE);
if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
  dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
}
else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
  dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
}
else
{
  Console.WriteLine("Dynamixel{0} has been successfully connected ", DXL1_ID);
}

As mentioned in the document, above code enables each Dynamixel`s torque to set their status as being ready to move.

write1ByteTxRx() function sends an instruction to the #DXL1_ID and #DXL2_ID DYNAMIXEL in PROTOCOL_VERSION communication protocol through #port_num port, writing 1 byte of TORQUE_ENABLE value to ADDR_MX_TORQUE_ENABLE address. The function checks Tx/Rx result and receives Hardware error. getLastTxRxResult() function and getLastRxPacketError() function get either, and then printTxRxResult() function and printRxPacketError() function show results on the console window if any communication error or Hardware error has been occurred.

while (true)
{
  Console.WriteLine("Press any key to continue! (or press ESC to quit!)");
  if (Console.ReadKey().KeyChar == ESC_ASCII_VALUE)
    break;

  // Add Dynamixel#1 goal position value to the Syncwrite storage
  dxl_addparam_result = dynamixel.groupSyncWriteAddParam(group_num, DXL1_ID, dxl_goal_position[index], LEN_MX_GOAL_POSITION);
  if (dxl_addparam_result != true)
  {
    Console.WriteLine("[ID: {0}] groupSyncWrite addparam failed", DXL1_ID);
    return;
  }

  // Add Dynamixel#2 goal position value to the Syncwrite parameter storage
  dxl_addparam_result = dynamixel.groupSyncWriteAddParam(group_num, DXL2_ID, dxl_goal_position[index], LEN_MX_GOAL_POSITION);
  if (dxl_addparam_result != true)
  {
    Console.WriteLine("[ID: {0}] groupSyncWrite addparam failed", DXL2_ID);
    return;
  }

  // Syncwrite goal position
  dynamixel.groupSyncWriteTxPacket(group_num);
  if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);

  // Clear syncwrite parameter storage
  dynamixel.groupSyncWriteClearParam(group_num);

  do
  {
    // Read Dynamixel#1 present position
    dxl1_present_position = dynamixel.read2ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_MX_PRESENT_POSITION);
    if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
    }
    else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
    }

    // Read Dynamixel#2 present position
    dxl2_present_position = dynamixel.read2ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_MX_PRESENT_POSITION);
    if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
    {
      dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
    }
    else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
    {
      dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
    }

    Console.WriteLine("[ID: {0}] GoalPos: {1}  PresPos: {2} [ID: {3}] GoalPos: {4}  PresPos: {5}", DXL1_ID, dxl_goal_position[index], dxl1_present_position, DXL2_ID, dxl_goal_position[index], dxl2_present_position);


  } while ((Math.Abs(dxl_goal_position[index] - dxl1_present_position) > DXL_MOVING_STATUS_THRESHOLD) || (Math.Abs(dxl_goal_position[index] - dxl2_present_position) > DXL_MOVING_STATUS_THRESHOLD));

  // Change goal position
  if (index == 0)
  {
    index = 1;
  }
  else
  {
    index = 0;
  }
}

During while() loop, the controller writes and reads each Dynamixel position through packet transmission/reception(Tx/Rx).

To continue their rotation, press any key except ESC.

groupSyncWriteAddParam() function stores the Dynamixel ID and its LEN_MX_GOAL_POSITION bytes goal position dxl_goal_position to the syncwrite target Dynamixel list.

groupSyncWriteTxPacket() function sends an instruction to the Dynamixel #DXL1_ID and #DXL2_ID at the same time through #port_num, making it possible to write same pre-listed length bytes to same pre-listed address. The function checks Tx/Rx result. getLastTxRxResult() function gets it, and then printTxRxResult() function shows result on the console window if any communication error has been occurred.

groupSyncWriteClearParam() function clears the Dynamixel list of groupsyncwrite.

read2ByteTxRx() function sends an instruction to the #DXL1_ID and #DXL2_ID DYNAMIXEL in PROTOCOL_VERSION communication protocol through #port_num port, requesting 2 bytes of value in ADDR_MX_PRESENT_POSITION address. The function checks Tx/Rx result and receives Hardware error. getLastTxRxResult() function and getLastRxPacketError() function get either, and then printTxRxResult() function and printRxPacketError() function show results on the console window if any communication error or Hardware error has been occurred.

Reading their present position will be ended when absolute value of (dxl_goal_position[index] - dxl1_present_position) or (dxl_goal_position[index] - dxl2_present_position) becomes smaller then DXL_MOVING_STATUS_THRESHOLD.

At last, it changes their direction to the counter-wise and waits for extra key input.

// Disable Dynamixel#1 Torque
dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL1_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE);
if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
  dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
}
else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
  dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
}

// Disable Dynamixel#2 Torque
dynamixel.write1ByteTxRx(port_num, PROTOCOL_VERSION, DXL2_ID, ADDR_MX_TORQUE_ENABLE, TORQUE_DISABLE);
if ((dxl_comm_result = dynamixel.getLastTxRxResult(port_num, PROTOCOL_VERSION)) != COMM_SUCCESS)
{
  dynamixel.printTxRxResult(PROTOCOL_VERSION, dxl_comm_result);
}
else if ((dxl_error = dynamixel.getLastRxPacketError(port_num, PROTOCOL_VERSION)) != 0)
{
  dynamixel.printRxPacketError(PROTOCOL_VERSION, dxl_error);
}

The controller frees the DYNAMIXEL to be idle.

write1ByteTxRx() function sends an instruction to the #DXL1_ID and #DXL2_ID DYNAMIXEL in PROTOCOL_VERSION communication protocol through #port_num port, writing 1 byte of TORQUE_DISABLE value to ADDR_MX_TORQUE_ENABLE address. The function checks Tx/Rx result and receives Hardware error. getLastTxRxResult() function and getLastRxPacketError() function get either, and then printTxRxResult() function and printRxPacketError() function show results on the console window if any communication error or Hardware error has been occurred.

// Close port
dynamixel.closePort(port_num);

return;

Finally, port becomes disposed.