Class GroupSyncWrite
Defined in File group_sync_write.h
Class Documentation
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class dynamixel::GroupSyncWrite
The class for writing multiple Dynamixel data from same address with same length at once.
Public Functions
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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
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inline ~GroupSyncWrite()
The function that calls clearParam function to clear the parameter list for Sync Write.
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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, 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
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void removeParam(uint8_t id)
The function that removes id from the Sync Write list.
- Parameters
id – Dynamixel ID
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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
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void clearParam()
The function that clears the Sync Write list.
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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
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GroupSyncWrite(PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length)