#include <CDxlGroup.h>

Inheritance diagram for CDxlGroup:

Public Member Functions
int	addNewDynamixel (CDxlConfig *config)
	CDxlGroup ()
virtual bool	deinit ()
int	enableTorqueAll (int state)
CDxlGeneric *	getDynamixel (const int index)
std::string &	getName ()
int	getNumDynamixels ()
int	getPosAll ()
int	getPosAndSpeedAll ()
int	getPosSpeedTorqueAll ()
int	getStateAll ()
int	getStatusAll ()
int	getTempAll ()
virtual bool	init ()
int	sendSyncWritePacket ()
int	setConfig (CDxlGroupConfig *config)
int	setEndlessTurnModeAll (bool enabled)
void	setName (const std::string &name)
void	setSerialPort (LxSerial *serialport)
void	setSyncWriteType (const BYTE instruction=INST_SYNC_WRITE)
int	setupSyncReadChain ()
int	syncRead (int startingAddress, int dataLength)
int	writeData (int ID, int startingAddress, int dataLength, BYTE *data)
virtual	~CDxlGroup ()
Protected Member Functions
int	action ()
int	initAll ()
Protected Attributes
CDxlGeneric *	mDynamixels [MAX_NUM_DYNAMIXELS]
CLog2	mLog
std::string	mName
int	mNumDynamixels
CDxlStatusPacket *	mStatusPackets [MAX_NUM_DYNAMIXELS]
CDxlSyncWritePacket *	mSyncPacket
bool	mSyncRead

Detailed Description

Definition at line 21 of file CDxlGroup.h.

Constructor & Destructor Documentation

CDxlGroup::CDxlGroup ( )

Definition at line 16 of file CDxlGroup.cpp.

CDxlGroup::~CDxlGroup ( ) [virtual]

Definition at line 26 of file CDxlGroup.cpp.

Member Function Documentation

int CDxlGroup::action ( ) [protected]

Definition at line 82 of file CDxlGroup.cpp.

int CDxlGroup::addNewDynamixel ( CDxlConfig * config )

Definition at line 89 of file CDxlGroup.cpp.

bool CDxlGroup::deinit ( ) [virtual]

Definition at line 62 of file CDxlGroup.cpp.

int CDxlGroup::enableTorqueAll ( int state )

Definition at line 376 of file CDxlGroup.cpp.

CDxlGeneric * CDxlGroup::getDynamixel ( const int index )

Definition at line 398 of file CDxlGroup.cpp.

std::string & CDxlGroup::getName ( )

Definition at line 52 of file CDxlGroup.cpp.

int CDxlGroup::getNumDynamixels ( )

Definition at line 393 of file CDxlGroup.cpp.

int CDxlGroup::getPosAll ( )

Definition at line 290 of file CDxlGroup.cpp.

int CDxlGroup::getPosAndSpeedAll ( )

Definition at line 307 of file CDxlGroup.cpp.

int CDxlGroup::getPosSpeedTorqueAll ( )

Definition at line 325 of file CDxlGroup.cpp.

int CDxlGroup::getStateAll ( )

Definition at line 249 of file CDxlGroup.cpp.

int CDxlGroup::getStatusAll ( )

Definition at line 273 of file CDxlGroup.cpp.

int CDxlGroup::getTempAll ( )

Definition at line 342 of file CDxlGroup.cpp.

bool CDxlGroup::init ( ) [virtual]

Definition at line 57 of file CDxlGroup.cpp.

int CDxlGroup::initAll ( ) [protected]

Definition at line 226 of file CDxlGroup.cpp.

int CDxlGroup::sendSyncWritePacket ( )

Groups can write command to servo's in a group message. To do this the individual servo's write their data to a group packet with the writeData function below. With the sendSyncWrite function you can send the packet.

Documentation from Robotis RX28 about the syncwrite packect: This command is used to control several RX-28s simultaneously with one Instruction Function Packet transmission. When this command is used, several commands are transmitted at once, so that the communication time is reduced when multiple RX-28s are controlled. However, the SYNC WRITE command can be used only if both of the address and length of the Control Table to write is identical. Besides, ID should be transmitted as Broadcasting ID. Make sure that the length of packet does not to exceed 143 bytes since the volume of receiving buffer of RX-28 is 143 bytes.

This function sends the group packed that has been filled by the dynamixels/3mxls after sending it resets the group message

Definition at line 133 of file CDxlGroup.cpp.

int CDxlGroup::setConfig ( CDxlGroupConfig * config )

Definition at line 404 of file CDxlGroup.cpp.

int CDxlGroup::setEndlessTurnModeAll ( bool enabled )

Definition at line 359 of file CDxlGroup.cpp.

void CDxlGroup::setName ( const std::string & name )

Definition at line 47 of file CDxlGroup.cpp.

void CDxlGroup::setSerialPort ( LxSerial * serialport )

Definition at line 41 of file CDxlGroup.cpp.

void CDxlGroup::setSyncWriteType ( const BYTE instruction = INST_SYNC_WRITE )

enable group to set instruction type for syncwrite

Definition at line 221 of file CDxlGroup.cpp.

int CDxlGroup::setupSyncReadChain ( )

Definition at line 109 of file CDxlGroup.cpp.

int CDxlGroup::syncRead	(	int	startingAddress,
		int	dataLength
	)

Definition at line 185 of file CDxlGroup.cpp.

int CDxlGroup::writeData	(	int	ID,
		int	startingAddress,
		int	dataLength,
		BYTE *	data
	)

This function is used by the CDxlGeneric type classes to write their data to a Group packet in stead of directly to the serial port. If the Servo was added to a group it will have been given a pointer to this group so it can write its data to the group. You can then send the group packet with sendSyncWritePacket().

Definition at line 161 of file CDxlGroup.cpp.