Class GroupBulkRead

Class Documentation

class GroupBulkRead

The class for reading multiple Dynamixel data from different addresses with different lengths at once.

Public Functions

GroupBulkRead(PortHandler *port, PacketHandler *ph)

The function that Initializes instance for Bulk Read.

Parameters:
inline ~GroupBulkRead()

The function that calls clearParam function to clear the parameter list for Bulk Read.

inline PortHandler *getPortHandler()

The function that returns PortHandler instance.

Returns:

PortHandler instance

inline PacketHandler *getPacketHandler()

The function that returns PacketHandler instance.

Returns:

PacketHandler instance

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

void removeParam(uint8_t id)

The function that removes id from the Bulk Read list.

Parameters:

id – Dynamixel ID

void clearParam()

The function that clears the Bulk Read list.

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

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

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

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

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

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