Class GroupSyncWrite

Class Documentation

class GroupSyncWrite

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

Public Functions

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

inline ~GroupSyncWrite()

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

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, 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

Returns:

when the ID exists already in the list

Returns:

or true

void removeParam(uint8_t id)

The function that removes id from the Sync Write list.

Parameters:

id – Dynamixel ID

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.

Parameters:

  • id – Dynamixel ID

  • data – for replacement

Returns:

false

Returns:

when the ID doesn’t exist in the list

Returns:

or true

void clearParam()

The function that clears the Sync Write list.

int txPacket()

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

Returns:

COMM_NOT_AVAILABLE

Returns:

when the list for Sync Write is empty

Returns:

or the other communication results which come from PacketHandler::syncWriteTxOnly