The class for control Dynamixel by using Protocol1.0. More...

#include <protocol1_packet_handler.h>

Inheritance diagram for dynamixel::Protocol1PacketHandler:

Public Member Functions
int	action (PortHandler *port, uint8_t id)
	The function that makes Dynamixels run as written in the Dynamixel register The function makes an instruction packet with INST_ACTION, transmits the packet with Protocol1PacketHandler::txRxPacket(). To use this function, Dynamixel register should be set by Protocol1PacketHandler::regWriteTxOnly() or Protocol1PacketHandler::regWriteTxRx() More...

int	broadcastPing (PortHandler *port, std::vector< uint8_t > &id_list)
	(Available only in Protocol 2.0) The function that pings all connected Dynamixel More...

int	bulkReadTx (PortHandler port, uint8_t param, uint16_t param_length)
	(Available only on Dynamixel MX / X series) The function that transmits Bulk Read instruction packet The function makes an instruction packet with INST_BULK_READ, transmits the packet with Protocol1PacketHandler::txPacket(). More...

int	bulkWriteTxOnly (PortHandler port, uint8_t param, uint16_t param_length)
	(Available only in Protocol 2.0) The function that transmits Bulk Write instruction packet More...

int	clearMultiTurn (PortHandler port, uint8_t id, uint8_t error=0)
	(Available only in Protocol 2.0) The function that reset multi-turn revolution information of Dynamixel More...

int	factoryReset (PortHandler port, uint8_t id, uint8_t option, uint8_t error=0)
	The function that makes Dynamixel reset as it was produced in the factory The function makes an instruction packet with INST_FACTORY_RESET, transmits the packet with Protocol1PacketHandler::txRxPacket(). Be careful of the use. More...

float	getProtocolVersion ()
	The function that returns Protocol version used in Protocol1PacketHandler (1.0) More...

const char *	getRxPacketError (uint8_t error)
	The function that gets description of hardware error. More...

const char *	getTxRxResult (int result)
	The function that gets description of communication result. More...

int	ping (PortHandler port, uint8_t id, uint8_t error=0)
	The function that pings Dynamixel but doesn't take its model number The function calls Protocol1PacketHandler::ping() which gets Dynamixel model number, but doesn't carry the model number. More...

int	ping (PortHandler port, uint8_t id, uint16_t model_number, uint8_t *error=0)
	The function that pings Dynamixel and takes its model number The function makes an instruction packet with INST_PING, transmits the packet with Protocol1PacketHandler::txRxPacket(), and call Protocol1PacketHandler::readTxRx to read model_number in the rx buffer. It breaks out when it tries to transmit to BROADCAST_ID. More...

int	read1ByteRx (PortHandler port, uint8_t id, uint8_t data, uint8_t *error=0)
	The function that calls Protocol1PacketHandler::readRx() function and reads 1 byte data on the packet The function calls Protocol1PacketHandler::readRx() function, gets 1 byte data from the packet. More...

int	read1ByteTx (PortHandler *port, uint8_t id, uint16_t address)
	The function that calls Protocol1PacketHandler::readTx() function for reading 1 byte data The function calls Protocol1PacketHandler::readTx() function for reading 1 byte data. More...

int	read1ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint8_t data, uint8_t *error=0)
	The function that calls Protocol1PacketHandler::readTxRx() function for reading 1 byte data The function calls Protocol1PacketHandler::readTxRx(), gets 1 byte data from the packet. More...

int	read2ByteRx (PortHandler port, uint8_t id, uint16_t data, uint8_t *error=0)
	The function that calls Protocol1PacketHandler::readRx() function and reads 2 byte data on the packet The function calls Protocol1PacketHandler::readRx() function, gets 2 byte data from the packet. More...

int	read2ByteTx (PortHandler *port, uint8_t id, uint16_t address)
	The function that calls Protocol1PacketHandler::readTx() function for reading 2 byte data The function calls Protocol1PacketHandler::readTx() function for reading 2 byte data. More...

int	read2ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t data, uint8_t *error=0)
	The function that calls Protocol1PacketHandler::readTxRx() function for reading 2 byte data The function calls Protocol1PacketHandler::readTxRx(), gets 2 byte data from the packet. More...

int	read4ByteRx (PortHandler port, uint8_t id, uint32_t data, uint8_t *error=0)
	The function that calls Protocol1PacketHandler::readRx() function and reads 4 byte data on the packet The function calls Protocol1PacketHandler::readRx() function, gets 4 byte data from the packet. More...

int	read4ByteTx (PortHandler *port, uint8_t id, uint16_t address)
	The function that calls Protocol1PacketHandler::readTx() function for reading 4 byte data The function calls Protocol1PacketHandler::readTx() function for reading 4 byte data. More...

int	read4ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint32_t data, uint8_t *error=0)
	The function that calls Protocol1PacketHandler::readTxRx() function for reading 4 byte data The function calls Protocol1PacketHandler::readTxRx(), gets 4 byte data from the packet. More...

int	readRx (PortHandler port, uint8_t id, uint16_t length, uint8_t data, uint8_t *error=0)
	The function that receives the packet and reads the data in the packet The function receives the packet which might be come by previous INST_READ instruction packet transmission, gets the data from the packet. More...

int	readTx (PortHandler *port, uint8_t id, uint16_t address, uint16_t length)
	The function that transmits INST_READ instruction packet The function makes an instruction packet with INST_READ, transmits the packet with Protocol1PacketHandler::txPacket(). It breaks out when it tries to transmit to BROADCAST_ID. More...

int	readTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=0)
	The function that transmits INST_READ instruction packet, and read data from received packet The function makes an instruction packet with INST_READ, transmits and receives the packet with Protocol1PacketHandler::txRxPacket(), gets the data from the packet. It breaks out when it tries to transmit to BROADCAST_ID. More...

int	reboot (PortHandler port, uint8_t id, uint8_t error=0)
	(Available only in Protocol 2.0) The function that makes Dynamixel reboot More...

int	regWriteTxOnly (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data)
	The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, transmits the packet with Protocol1PacketHandler::txPacket(). The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamixel. More...

int	regWriteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=0)
	The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register, and receives the packet The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, transmits and receives the packet with Protocol1PacketHandler::txRxPacket(), gets the error from the packet. The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamixel. More...

int	rxPacket (PortHandler port, uint8_t rxpacket)
	The function that receives packet (rxpacket) during designated time via PortHandler port The function repeatedly tries to receive rxpacket by PortHandler::readPort() function. It breaks out when PortHandler::isPacketTimeout() shows the timeout, when rxpacket seemed as corrupted, or when nothing received. More...

int	syncReadTx (PortHandler port, uint16_t start_address, uint16_t data_length, uint8_t param, uint16_t param_length)
	(Available only in Protocol 2.0) The function that transmits Sync Read instruction packet More...

int	syncWriteTxOnly (PortHandler port, uint16_t start_address, uint16_t data_length, uint8_t param, uint16_t param_length)
	The function that transmits Sync Write instruction packet The function makes an instruction packet with INST_SYNC_WRITE, transmits the packet with Protocol1PacketHandler::txRxPacket(). More...

int	txPacket (PortHandler port, uint8_t txpacket)
	The function that transmits the instruction packet txpacket via PortHandler port. The function clears the port buffer by PortHandler::clearPort() function, then transmits txpacket by PortHandler::writePort() function. The function activates only when the port is not busy and when the packet is already written on the port buffer. More...

int	txRxPacket (PortHandler port, uint8_t txpacket, uint8_t rxpacket, uint8_t error=0)
	The function that transmits packet (txpacket) and receives packet (rxpacket) during designated time via PortHandler port The function calls Protocol1PacketHandler::txPacket(), and calls Protocol1PacketHandler::rxPacket() if it succeeds Protocol1PacketHandler::txPacket(). It breaks out when it fails Protocol1PacketHandler::txPacket(), when txpacket is called by Protocol1PacketHandler::broadcastPing() / Protocol1PacketHandler::syncWriteTxOnly() / Protocol1PacketHandler::regWriteTxOnly / Protocol1PacketHandler::action. More...

int	write1ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint8_t data)
	The function that calls Protocol1PacketHandler::writeTxOnly() for writing 1 byte data The function calls Protocol1PacketHandler::writeTxOnly() for writing 1 byte data. More...

int	write1ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint8_t data, uint8_t error=0)
	The function that calls Protocol1PacketHandler::writeTxRx() for writing 1 byte data and receives the packet The function calls Protocol1PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, gets the error from the packet. More...

int	write2ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint16_t data)
	The function that calls Protocol1PacketHandler::writeTxOnly() for writing 2 byte data The function calls Protocol1PacketHandler::writeTxOnly() for writing 2 byte data. More...

int	write2ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t data, uint8_t error=0)
	The function that calls Protocol1PacketHandler::writeTxRx() for writing 2 byte data and receives the packet The function calls Protocol1PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, gets the error from the packet. More...

int	write4ByteTxOnly (PortHandler *port, uint8_t id, uint16_t address, uint32_t data)
	The function that calls Protocol1PacketHandler::writeTxOnly() for writing 4 byte data The function calls Protocol1PacketHandler::writeTxOnly() for writing 4 byte data. More...

int	write4ByteTxRx (PortHandler port, uint8_t id, uint16_t address, uint32_t data, uint8_t error=0)
	The function that calls Protocol1PacketHandler::writeTxRx() for writing 4 byte data and receives the packet The function calls Protocol1PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, gets the error from the packet. More...

int	writeTxOnly (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data)
	The function that transmits INST_WRITE instruction packet with the data for write The function makes an instruction packet with INST_WRITE and the data for write, transmits the packet with Protocol1PacketHandler::txPacket(). More...

int	writeTxRx (PortHandler port, uint8_t id, uint16_t address, uint16_t length, uint8_t data, uint8_t *error=0)
	The function that transmits INST_WRITE instruction packet with the data for write, and receives the packet The function makes an instruction packet with INST_WRITE and the data for write, transmits and receives the packet with Protocol1PacketHandler::txRxPacket(), gets the error from the packet. More...

virtual	~Protocol1PacketHandler ()

Public Member Functions inherited from dynamixel::PacketHandler
virtual	~PacketHandler ()

Static Public Member Functions
static Protocol1PacketHandler *	getInstance ()
	The function that returns Protocol1PacketHandler instance. More...

Static Public Member Functions inherited from dynamixel::PacketHandler
static PacketHandler *	getPacketHandler (float protocol_version=2.0)
	The function that returns PacketHandler instance. More...

Private Member Functions
	Protocol1PacketHandler ()

Static Private Attributes
static Protocol1PacketHandler *	unique_instance_ = new Protocol1PacketHandler()

Additional Inherited Members
Protected Member Functions inherited from dynamixel::PacketHandler
	PacketHandler ()

Detailed Description

The class for control Dynamixel by using Protocol1.0.

Definition at line 34 of file protocol1_packet_handler.h.

Constructor & Destructor Documentation

Protocol1PacketHandler::Protocol1PacketHandler ( )

private

Definition at line 58 of file protocol1_packet_handler.cpp.

virtual dynamixel::Protocol1PacketHandler::~Protocol1PacketHandler ( )

inlinevirtual

Definition at line 48 of file protocol1_packet_handler.h.

Member Function Documentation

int Protocol1PacketHandler::action	(	PortHandler *	port,
		uint8_t	id
	)

virtual

The function that makes Dynamixels run as written in the Dynamixel register The function makes an instruction packet with INST_ACTION, transmits the packet with Protocol1PacketHandler::txRxPacket(). To use this function, Dynamixel register should be set by Protocol1PacketHandler::regWriteTxOnly() or Protocol1PacketHandler::regWriteTxRx()

Parameters

port	PortHandler instance
id	Dynamixel ID

Returns: communication results which come from Protocol1PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 352 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::broadcastPing	(	PortHandler *	port,
		std::vector< uint8_t > &	id_list
	)

virtual

(Available only in Protocol 2.0) The function that pings all connected Dynamixel

Parameters

port	PortHandler instance
id_list	ID list of Dynamixels which are found by broadcast ping

Returns: COMM_NOT_AVAILABLE

Implements dynamixel::PacketHandler.

Definition at line 347 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::bulkReadTx	(	PortHandler *	port,
		uint8_t *	param,
		uint16_t	param_length
	)

virtual

(Available only on Dynamixel MX / X series) The function that transmits Bulk Read instruction packet The function makes an instruction packet with INST_BULK_READ, transmits the packet with Protocol1PacketHandler::txPacket().

Parameters

port	PortHandler instance
param	Parameter for Bulk Read {LEN1, ID1, ADDR1, LEN2, ID2, ADDR2, ...}
param_length	Length of the data for Bulk Read

Returns: communication results which come from Protocol1PacketHandler::txPacket()

Implements dynamixel::PacketHandler.

Definition at line 718 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::bulkWriteTxOnly	(	PortHandler *	port,
		uint8_t *	param,
		uint16_t	param_length
	)

virtual

(Available only in Protocol 2.0) The function that transmits Bulk Write instruction packet

Parameters

port	PortHandler instance
param	Parameter for Bulk Write
param_length	Length of the data for Bulk Write

Returns: COMM_NOT_AVAILABLE

Implements dynamixel::PacketHandler.

Definition at line 752 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::clearMultiTurn	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)

virtual

(Available only in Protocol 2.0) The function that reset multi-turn revolution information of Dynamixel

Parameters

port	PortHandler instance
id	Dynamixel ID
error	Dynamixel hardware error

Returns: COMM_NOT_AVAILABLE

Implements dynamixel::PacketHandler.

Definition at line 368 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::factoryReset	(	PortHandler *	port,
		uint8_t	id,
		uint8_t	option,
		uint8_t *	error = `0`
	)

virtual

The function that makes Dynamixel reset as it was produced in the factory The function makes an instruction packet with INST_FACTORY_RESET, transmits the packet with Protocol1PacketHandler::txRxPacket(). Be careful of the use.

Parameters

port	PortHandler instance
id	Dynamixel ID
option	(Not available in Protocol 1.0) Reset option
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 373 of file protocol1_packet_handler.cpp.

static Protocol1PacketHandler* dynamixel::Protocol1PacketHandler::getInstance ( )

inlinestatic

The function that returns Protocol1PacketHandler instance.

Returns: Protocol1PacketHandler instance

Definition at line 46 of file protocol1_packet_handler.h.

float dynamixel::Protocol1PacketHandler::getProtocolVersion ( )

inlinevirtual

The function that returns Protocol version used in Protocol1PacketHandler (1.0)

Returns: 1.0

Implements dynamixel::PacketHandler.

Definition at line 54 of file protocol1_packet_handler.h.

const char * Protocol1PacketHandler::getRxPacketError ( uint8_t error )

virtual

The function that gets description of hardware error.

Parameters

error Dynamixel hardware error which might be gotten by the tx rx functions

Returns: description of hardware error in const char* (string)

Implements dynamixel::PacketHandler.

Definition at line 96 of file protocol1_packet_handler.cpp.

const char * Protocol1PacketHandler::getTxRxResult ( int result )

virtual

The function that gets description of communication result.

Parameters

result Communication result which might be gotten by the tx rx functions

Returns: description of communication result in const char* (string)

Implements dynamixel::PacketHandler.

Definition at line 60 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::ping	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)

virtual

The function that pings Dynamixel but doesn't take its model number The function calls Protocol1PacketHandler::ping() which gets Dynamixel model number, but doesn't carry the model number.

Parameters

port	PortHandler instance
id	Dynamixel ID
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::ping()

Implements dynamixel::PacketHandler.

Definition at line 317 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::ping	(	PortHandler *	port,
		uint8_t	id,
		uint16_t *	model_number,
		uint8_t *	error = `0`
	)

virtual

The function that pings Dynamixel and takes its model number The function makes an instruction packet with INST_PING, transmits the packet with Protocol1PacketHandler::txRxPacket(), and call Protocol1PacketHandler::readTxRx to read model_number in the rx buffer. It breaks out when it tries to transmit to BROADCAST_ID.

Parameters

port	PortHandler instance
id	Dynamixel ID
error	Dynamixel hardware error

Returns: COMM_NOT_AVAILABLE; when it tries to transmit to BROADCAST_ID; COMM_SUCCESS; when it succeeds to ping Dynamixel and get model_number from it; or the other communication results which come from Protocol1PacketHandler::txRxPacket() and Protocol1PacketHandler::readTxRx()

Implements dynamixel::PacketHandler.

Definition at line 322 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::read1ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol1PacketHandler::readRx() function and reads 1 byte data on the packet The function calls Protocol1PacketHandler::readRx() function, gets 1 byte data from the packet.

Parameters

port	PortHandler instance
data	Data extracted from the packet
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::readRx()

Implements dynamixel::PacketHandler.

Definition at line 485 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::read1ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)

virtual

The function that calls Protocol1PacketHandler::readTx() function for reading 1 byte data The function calls Protocol1PacketHandler::readTx() function for reading 1 byte data.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read

Returns: communication results which come from Protocol1PacketHandler::readTx()

Implements dynamixel::PacketHandler.

Definition at line 481 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::read1ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol1PacketHandler::readTxRx() function for reading 1 byte data The function calls Protocol1PacketHandler::readTxRx(), gets 1 byte data from the packet.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 493 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::read2ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol1PacketHandler::readRx() function and reads 2 byte data on the packet The function calls Protocol1PacketHandler::readRx() function, gets 2 byte data from the packet.

Parameters

port	PortHandler instance
data	Data extracted from the packet
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::readRx()

Implements dynamixel::PacketHandler.

Definition at line 506 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::read2ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)

virtual

The function that calls Protocol1PacketHandler::readTx() function for reading 2 byte data The function calls Protocol1PacketHandler::readTx() function for reading 2 byte data.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read

Returns: communication results which come from Protocol1PacketHandler::readTx()

Implements dynamixel::PacketHandler.

Definition at line 502 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::read2ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol1PacketHandler::readTxRx() function for reading 2 byte data The function calls Protocol1PacketHandler::readTxRx(), gets 2 byte data from the packet.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 514 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::read4ByteRx	(	PortHandler *	port,
		uint8_t	id,
		uint32_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol1PacketHandler::readRx() function and reads 4 byte data on the packet The function calls Protocol1PacketHandler::readRx() function, gets 4 byte data from the packet.

Parameters

port	PortHandler instance
data	Data extracted from the packet
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::readRx()

Implements dynamixel::PacketHandler.

Definition at line 527 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::read4ByteTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address
	)

virtual

The function that calls Protocol1PacketHandler::readTx() function for reading 4 byte data The function calls Protocol1PacketHandler::readTx() function for reading 4 byte data.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read

Returns: communication results which come from Protocol1PacketHandler::readTx()

Implements dynamixel::PacketHandler.

Definition at line 523 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::read4ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol1PacketHandler::readTxRx() function for reading 4 byte data The function calls Protocol1PacketHandler::readTxRx(), gets 4 byte data from the packet.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 535 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::readRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that receives the packet and reads the data in the packet The function receives the packet which might be come by previous INST_READ instruction packet transmission, gets the data from the packet.

Parameters

port	PortHandler instance
length	Length of the data for read
data	Data extracted from the packet
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::rxPacket()

Implements dynamixel::PacketHandler.

Definition at line 409 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::readTx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length
	)

virtual

The function that transmits INST_READ instruction packet The function makes an instruction packet with INST_READ, transmits the packet with Protocol1PacketHandler::txPacket(). It breaks out when it tries to transmit to BROADCAST_ID.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read
length	Length of the data for read

Returns: COMM_NOT_AVAILABLE; when it tries to transmit to BROADCAST_ID; or the other communication results which come from Protocol1PacketHandler::txPacket()

Implements dynamixel::PacketHandler.

Definition at line 385 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::readTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that transmits INST_READ instruction packet, and read data from received packet The function makes an instruction packet with INST_READ, transmits and receives the packet with Protocol1PacketHandler::txRxPacket(), gets the data from the packet. It breaks out when it tries to transmit to BROADCAST_ID.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for read
length	Length of the data for read
data	Data extracted from the packet
error	Dynamixel hardware error

Returns: COMM_NOT_AVAILABLE; when it tries to transmit to BROADCAST_ID; or the other communication results which come from Protocol1PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 440 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::reboot	(	PortHandler *	port,
		uint8_t	id,
		uint8_t *	error = `0`
	)

virtual

(Available only in Protocol 2.0) The function that makes Dynamixel reboot

Parameters

port	PortHandler instance
id	Dynamixel ID
error	Dynamixel hardware error

Returns: COMM_NOT_AVAILABLE

Implements dynamixel::PacketHandler.

Definition at line 363 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::regWriteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data
	)

virtual

The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, transmits the packet with Protocol1PacketHandler::txPacket(). The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamixel.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
length	Length of the data for write
data	Data for write

Returns: communication results which come from Protocol1PacketHandler::txPacket()

Implements dynamixel::PacketHandler.

Definition at line 631 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::regWriteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that transmits INST_REG_WRITE instruction packet with the data for writing on the Dynamixel register, and receives the packet The function makes an instruction packet with INST_REG_WRITE and the data for writing on the Dynamixel register, transmits and receives the packet with Protocol1PacketHandler::txRxPacket(), gets the error from the packet. The data written in the register will act when INST_ACTION instruction packet is transmitted to the Dynamixel.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
length	Length of the data for write
data	Data for write
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 658 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::rxPacket	(	PortHandler *	port,
		uint8_t *	rxpacket
	)

virtual

The function that receives packet (rxpacket) during designated time via PortHandler port The function repeatedly tries to receive rxpacket by PortHandler::readPort() function. It breaks out when PortHandler::isPacketTimeout() shows the timeout, when rxpacket seemed as corrupted, or when nothing received.

Parameters

port	PortHandler instance
rxpacket	received packet

Returns: COMM_RX_CORRUPT; when it received the packet but it couldn't find header in the packet; when it found header in the packet but the id, length or error value is out of range; when it received the packet but it is shorted than expected; COMM_RX_TIMEOUT; when there is no rxpacket received until PortHandler::isPacketTimeout() shows the timeout; COMM_SUCCESS; when rxpacket passes checksum test; or COMM_RX_FAIL

Implements dynamixel::PacketHandler.

Definition at line 160 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::syncReadTx	(	PortHandler *	port,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	param,
		uint16_t	param_length
	)

virtual

(Available only in Protocol 2.0) The function that transmits Sync Read instruction packet

Parameters

port	PortHandler instance
start_address	Address of the data for Sync Read
data_length	Length of the data for Sync Read
param	Parameter for Sync Read
param_length	Length of the data for Sync Read

Returns: COMM_NOT_AVAILABLE

Implements dynamixel::PacketHandler.

Definition at line 685 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::syncWriteTxOnly	(	PortHandler *	port,
		uint16_t	start_address,
		uint16_t	data_length,
		uint8_t *	param,
		uint16_t	param_length
	)

virtual

The function that transmits Sync Write instruction packet The function makes an instruction packet with INST_SYNC_WRITE, transmits the packet with Protocol1PacketHandler::txRxPacket().

Parameters

port	PortHandler instance
start_address	Address of the data for Sync Write
data_length	Length of the data for Sync Write
param	Parameter for Sync Write {ID1, DATA0, DATA1, ..., DATAn, ID2, DATA0, DATA1, ..., DATAn, ID3, DATA0, DATA1, ..., DATAn}
param_length	Length of the data for Sync Write

Returns: communication results which come from Protocol1PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 690 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::txPacket	(	PortHandler *	port,
		uint8_t *	txpacket
	)

virtual

The function that transmits the instruction packet txpacket via PortHandler port. The function clears the port buffer by PortHandler::clearPort() function, then transmits txpacket by PortHandler::writePort() function. The function activates only when the port is not busy and when the packet is already written on the port buffer.

Parameters

port	PortHandler instance
txpacket	packet for transmission

Returns: COMM_PORT_BUSY; when the port is already in use; COMM_TX_ERROR; when txpacket is out of range described by TXPACKET_MAX_LEN; COMM_TX_FAIL; when written packet is shorter than expected; or COMM_SUCCESS

Implements dynamixel::PacketHandler.

Definition at line 122 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::txRxPacket	(	PortHandler *	port,
		uint8_t *	txpacket,
		uint8_t *	rxpacket,
		uint8_t *	error = `0`
	)

virtual

Parameters

port	PortHandler instance
txpacket	packet for transmission
rxpacket	received packet

Returns: COMM_SUCCESS; when it succeeds Protocol1PacketHandler::txPacket() and Protocol1PacketHandler::rxPacket(); or the other communication results which come from Protocol1PacketHandler::txPacket() and Protocol1PacketHandler::rxPacket()

Implements dynamixel::PacketHandler.

Definition at line 272 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::write1ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t	data
	)

virtual

The function that calls Protocol1PacketHandler::writeTxOnly() for writing 1 byte data The function calls Protocol1PacketHandler::writeTxOnly() for writing 1 byte data.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write

Returns: communication results which come from Protocol1PacketHandler::writeTxOnly()

Implements dynamixel::PacketHandler.

Definition at line 598 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::write1ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint8_t	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol1PacketHandler::writeTxRx() for writing 1 byte data and receives the packet The function calls Protocol1PacketHandler::writeTxRx() for writing 1 byte data and receves the packet, gets the error from the packet.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::writeTxRx()

Implements dynamixel::PacketHandler.

Definition at line 603 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::write2ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	data
	)

virtual

The function that calls Protocol1PacketHandler::writeTxOnly() for writing 2 byte data The function calls Protocol1PacketHandler::writeTxOnly() for writing 2 byte data.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write

Returns: communication results which come from Protocol1PacketHandler::writeTxOnly()

Implements dynamixel::PacketHandler.

Definition at line 609 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::write2ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol1PacketHandler::writeTxRx() for writing 2 byte data and receives the packet The function calls Protocol1PacketHandler::writeTxRx() for writing 2 byte data and receves the packet, gets the error from the packet.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::writeTxRx()

Implements dynamixel::PacketHandler.

Definition at line 614 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::write4ByteTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t	data
	)

virtual

The function that calls Protocol1PacketHandler::writeTxOnly() for writing 4 byte data The function calls Protocol1PacketHandler::writeTxOnly() for writing 4 byte data.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write

Returns: communication results which come from Protocol1PacketHandler::writeTxOnly()

Implements dynamixel::PacketHandler.

Definition at line 620 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::write4ByteTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint32_t	data,
		uint8_t *	error = `0`
	)

virtual

The function that calls Protocol1PacketHandler::writeTxRx() for writing 4 byte data and receives the packet The function calls Protocol1PacketHandler::writeTxRx() for writing 4 byte data and receves the packet, gets the error from the packet.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
data	Data for write
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::writeTxRx()

Implements dynamixel::PacketHandler.

Definition at line 625 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::writeTxOnly	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data
	)

virtual

The function that transmits INST_WRITE instruction packet with the data for write The function makes an instruction packet with INST_WRITE and the data for write, transmits the packet with Protocol1PacketHandler::txPacket().

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
length	Length of the data for write
data	Data for write

Returns: communication results which come from Protocol1PacketHandler::txPacket()

Implements dynamixel::PacketHandler.

Definition at line 544 of file protocol1_packet_handler.cpp.

int Protocol1PacketHandler::writeTxRx	(	PortHandler *	port,
		uint8_t	id,
		uint16_t	address,
		uint16_t	length,
		uint8_t *	data,
		uint8_t *	error = `0`
	)

virtual

The function that transmits INST_WRITE instruction packet with the data for write, and receives the packet The function makes an instruction packet with INST_WRITE and the data for write, transmits and receives the packet with Protocol1PacketHandler::txRxPacket(), gets the error from the packet.

Parameters

port	PortHandler instance
id	Dynamixel ID
address	Address of the data for write
length	Length of the data for write
data	Data for write
error	Dynamixel hardware error

Returns: communication results which come from Protocol1PacketHandler::txRxPacket()

Implements dynamixel::PacketHandler.

Definition at line 571 of file protocol1_packet_handler.cpp.

Member Data Documentation

Protocol1PacketHandler * Protocol1PacketHandler::unique_instance_ = new Protocol1PacketHandler()

staticprivate

Definition at line 37 of file protocol1_packet_handler.h.

The documentation for this class was generated from the following files:

Public Member Functions

Static Public Member Functions

Private Member Functions

Static Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation