Class GroupBulkWrite
Defined in File group_bulk_write.h
Class Documentation
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class dynamixel::GroupBulkWrite
The class for writing multiple Dynamixel data from different addresses with different lengths at once.
Public Functions
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GroupBulkWrite(PortHandler *port, PacketHandler *ph)
The function that Initializes instance for Bulk Write.
- Parameters
port – PortHandler instance
ph – PacketHandler instance
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inline ~GroupBulkWrite()
The function that calls clearParam function to clear the parameter list for Bulk Write.
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inline PortHandler *getPortHandler()
The function that returns PortHandler instance.
- Returns
PortHandler instance
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inline PacketHandler *getPacketHandler()
The function that returns PacketHandler instance.
- Returns
PacketHandler instance
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bool addParam(uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data)
The function that adds id, start_address, data_length to the Bulk Write list.
- Parameters
id – Dynamixel ID
start_address – Address of the data for write
data_length – Length of the data for write
- Returns
false
- Returns
when the ID exists already in the list
- Returns
or true
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void removeParam(uint8_t id)
The function that removes id from the Bulk Write list.
- Parameters
id – Dynamixel ID
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bool changeParam(uint8_t id, uint16_t start_address, uint16_t data_length, uint8_t *data)
The function that changes the data for write in id -> start_address -> data_length to the Bulk Write list.
- Parameters
id – Dynamixel ID
start_address – Address of the data for write
data_length – Length of the data for write
data – for replacement
- Returns
false
- Returns
when the ID doesn’t exist in the list
- Returns
or true
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void clearParam()
The function that clears the Bulk Write list.
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int txPacket()
The function that transmits the Bulk Write instruction packet which might be constructed by GroupBulkWrite::addParam function.
- Returns
COMM_NOT_AVAILABLE
- Returns
when the list for Bulk Write is empty
- Returns
when Protocol1.0 has been used
- Returns
or the other communication results which come from PacketHandler::bulkWriteTxOnly
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GroupBulkWrite(PortHandler *port, PacketHandler *ph)