Need help on bulk read of MX106 (Protocol 2.0)

[bbrr132]

Hi im new to programming and i need help to peform bulk read on my dynamixel for faster speed.
I am trying to access position current and voltage at the same time. Could anyone provide guidance. Thank you.

`
#include <DynamixelShield.h>

DynamixelShield dxl(Serial2, 18); // Using Serial2 for Dynamixel communication

const uint8_t BROADCAST_ID = 254;
const float DYNAMIXEL_PROTOCOL_VERSION = 2.0;
const uint8_t DXL_ID_CNT = 2;
const uint8_t DXL_ID_LIST[DXL_ID_CNT] = {0, 1}; // Motor IDs 0 and 1
const uint16_t user_pkt_buf_cap = 128;
uint8_t user_pkt_buf[user_pkt_buf_cap];

// Starting addresses and lengths of data to read for each Dynamixel motor
const uint16_t SR_START_ADDRS[DXL_ID_CNT] = {132, 126}; // Present Position and additional data
const uint16_t SR_ADDR_LENGTHS[DXL_ID_CNT] = {4, 2}; // Lengths of data for each starting address

typedef struct sr_data {
int32_t present_position;
int16_t present_current;
} attribute((packed)) sr_data_t;

sr_data_t sr_data[DXL_ID_CNT];
DYNAMIXEL::InfoSyncReadInst_t sr_infos;
DYNAMIXEL::XELInfoSyncRead_t info_xels_sr[DXL_ID_CNT];

void setup() {
uint8_t i;
//pinMode(LED_BUILTIN, OUTPUT);
Serial.begin(115200); // Using Serial for printing debug information
dxl.begin(115200); // Using Serial2 for Dynamixel communication
dxl.setPortProtocolVersion(DYNAMIXEL_PROTOCOL_VERSION);

for (i = 0; i < DXL_ID_CNT; i++) {
dxl.torqueOff(DXL_ID_LIST[i]);
dxl.setOperatingMode(DXL_ID_LIST[i], OP_POSITION);
}
dxl.torqueOn(BROADCAST_ID);

// Fill SyncRead structure members using an external user packet buffer
sr_infos.packet.p_buf = user_pkt_buf;
sr_infos.packet.buf_capacity = user_pkt_buf_cap;
sr_infos.packet.is_completed = false;
sr_infos.p_xels = info_xels_sr;
sr_infos.xel_count = 0;

// Prepare SyncRead structure
for (i = 0; i < DXL_ID_CNT; i++) {
info_xels_sr[i].id = DXL_ID_LIST[i];
info_xels_sr[i].p_recv_buf = (uint8_t *)&sr_data[i];
sr_infos.addr = SR_START_ADDRS[i];
sr_infos.addr_length = SR_ADDR_LENGTHS[i];
sr_infos.xel_count++;
}
sr_infos.is_info_changed = true;
}

void loop() {
static uint32_t try_count = 0;
uint8_t i, recv_cnt;

// Transmit predefined SyncRead instruction packet
// and receive a status packet from each DYNAMIXEL
recv_cnt = dxl.syncRead(&sr_infos);
if (recv_cnt > 0) {
Serial.print("[SyncRead] Success, Received ID Count: ");
Serial.println(recv_cnt);
for (i = 0; i < recv_cnt; i++) {
Serial.print(" ID: ");
Serial.print(sr_infos.p_xels[i].id);
Serial.print(", Error: ");
Serial.println(sr_infos.p_xels[i].error);
Serial.print("\t Present Position: ");
Serial.println(sr_data[i].present_position);
Serial.print("\t Present Current: ");
Serial.println(sr_data[i].present_current);
}
} else {
Serial.print("[SyncRead] Fail, Lib error code: ");
Serial.println(dxl.getLastLibErrCode());
}
Serial.println("=======================================================");

delay(750);
}
`