The class for writing multiple Dynamixel data from same address with same length at once. More...

#include <group_sync_write.h>

Public Member Functions
bool	addParam (uint8_t id, uint8_t *data)
	The function that adds id, start_address, data_length to the Sync Write list.
bool	changeParam (uint8_t id, uint8_t *data)
	The function that changes the data for write in id -> start_address -> data_length to the Sync Write list.
void	clearParam ()
	The function that clears the Sync Write list.
PacketHandler *	getPacketHandler ()
	The function that returns PacketHandler instance.
PortHandler *	getPortHandler ()
	The function that returns PortHandler instance.
	GroupSyncWrite (PortHandler port, PacketHandler ph, uint16_t start_address, uint16_t data_length)
	The function that Initializes instance for Sync Write.
void	removeParam (uint8_t id)
	The function that removes id from the Sync Write list.
int	txPacket ()
	The function that transmits the Sync Write instruction packet which might be constructed by GroupSyncWrite::addParam function.
	~GroupSyncWrite ()
	The function that calls clearParam function to clear the parameter list for Sync Write.
Private Member Functions
void	makeParam ()
Private Attributes
uint16_t	data_length_
std::map< uint8_t, uint8_t * >	data_list_
std::vector< uint8_t >	id_list_
bool	is_param_changed_
uint8_t *	param_
PacketHandler *	ph_
PortHandler *	port_
uint16_t	start_address_

Detailed Description

The class for writing multiple Dynamixel data from same address with same length at once.

Definition at line 37 of file group_sync_write.h.

Constructor & Destructor Documentation

GroupSyncWrite::GroupSyncWrite	(	PortHandler *	port,
		PacketHandler *	ph,
		uint16_t	start_address,
		uint16_t	data_length
	)

The function that Initializes instance for Sync Write.

Parameters:

port	PortHandler instance
ph	PacketHandler instance
start_address	Address of the data for write
data_length	Length of the data for write

Definition at line 34 of file group_sync_write.cpp.

dynamixel::GroupSyncWrite::~GroupSyncWrite ( ) [inline]

The function that calls clearParam function to clear the parameter list for Sync Write.

Definition at line 67 of file group_sync_write.h.

Member Function Documentation

bool GroupSyncWrite::addParam	(	uint8_t	id,
		uint8_t *	data
	)

The function that adds id, start_address, data_length to the Sync Write list.

Parameters:

id	Dynamixel ID
data	Data for write

Returns:: false; when the ID exists already in the list; or true

Definition at line 68 of file group_sync_write.cpp.

bool GroupSyncWrite::changeParam	(	uint8_t	id,
		uint8_t *	data
	)

The function that changes the data for write in id -> start_address -> data_length to the Sync Write list.

Parameters:

id	Dynamixel ID
data	for replacement

Returns:: false; when the ID doesn't exist in the list; or true

Definition at line 95 of file group_sync_write.cpp.

void GroupSyncWrite::clearParam ( )

The function that clears the Sync Write list.

Definition at line 110 of file group_sync_write.cpp.

PacketHandler* dynamixel::GroupSyncWrite::getPacketHandler ( ) [inline]

The function that returns PacketHandler instance.

Returns:: PacketHandler instance

Definition at line 79 of file group_sync_write.h.

PortHandler* dynamixel::GroupSyncWrite::getPortHandler ( ) [inline]

The function that returns PortHandler instance.

Returns:: PortHandler instance

Definition at line 73 of file group_sync_write.h.

void GroupSyncWrite::makeParam ( ) [private]

Definition at line 45 of file group_sync_write.cpp.

void GroupSyncWrite::removeParam ( uint8_t id )

The function that removes id from the Sync Write list.

Parameters:

id	Dynamixel ID

Definition at line 82 of file group_sync_write.cpp.

int GroupSyncWrite::txPacket ( )

The function that transmits the Sync Write instruction packet which might be constructed by GroupSyncWrite::addParam function.

Returns:: COMM_NOT_AVAILABLE; when the list for Sync Write is empty; or the other communication results which come from PacketHandler::syncWriteTxOnly

Definition at line 125 of file group_sync_write.cpp.