Class GroupBulkRead
Defined in File group_bulk_read.h
Class Documentation
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class dynamixel::GroupBulkRead
The class for reading multiple Dynamixel data from different addresses with different lengths at once.
Public Functions
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GroupBulkRead(PortHandler *port, PacketHandler *ph)
The function that Initializes instance for Bulk Read.
- Parameters
port – PortHandler instance
ph – PacketHandler instance
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inline ~GroupBulkRead()
The function that calls clearParam function to clear the parameter list for Bulk Read.
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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)
The function that adds id, start_address, data_length to the Bulk Read list.
- Parameters
id – Dynamixel ID
start_address – Address of the data for read @data_length Length of the data for read
- 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 Read list.
- Parameters
id – Dynamixel ID
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void clearParam()
The function that clears the Bulk Read list.
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int txPacket()
The function that transmits the Bulk Read instruction packet which might be constructed by GroupBulkRead::addParam function.
- Returns
COMM_NOT_AVAILABLE
- Returns
when the list for Bulk Read is empty
- Returns
or the other communication results which come from PacketHandler::bulkReadTx
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int rxPacket()
The function that receives the packet which might be come from the Dynamixel.
- Returns
COMM_NOT_AVAILABLE
- Returns
when the list for Bulk Read is empty
- Returns
COMM_RX_FAIL
- Returns
when there is no packet recieved
- Returns
COMM_SUCCESS
- Returns
when there is packet recieved
- Returns
or the other communication results
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int txRxPacket()
The function that transmits and receives the packet which might be come from the Dynamixel.
- Returns
COMM_RX_FAIL
- Returns
when there is no packet recieved
- Returns
COMM_SUCCESS
- Returns
when there is packet recieved
- Returns
or the other communication results which come from GroupBulkRead::txPacket or GroupBulkRead::rxPacket
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bool isAvailable(uint8_t id, uint16_t address, uint16_t data_length)
The function that checks whether there are available data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket.
- Parameters
id – Dynamixel ID
address – Address of the data for read
data_length – Length of the data for read
- Returns
false
- Returns
when there are no data available
- Returns
or true
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uint32_t getData(uint8_t id, uint16_t address, uint16_t data_length)
The function that gets the data which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket.
- Parameters
id – Dynamixel ID
address – Address of the data for read @data_length Length of the data for read
- Returns
data value
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bool getError(uint8_t id, uint8_t *error)
The function that gets the error which might be received by GroupBulkRead::rxPacket or GroupBulkRead::txRxPacket.
- Parameters
id – Dynamixel ID @error error of Dynamixel
- Returns
true
- Returns
when Dynamixel returned specific error byte
- Returns
or false
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GroupBulkRead(PortHandler *port, PacketHandler *ph)