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/docs/en/software/dynamixel/dynamixel_sdk/api_reference/cpp/cpp_groupbulkwrite/
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DynamixelSDK
dynamixel_sdk

CPP GroupBulkWrite

  • Description

    Base class for simultaneous dynamixel control on writing.

  • Members

    None

  • Methods

Methods Description
GroupBulkWrite Initializes groupBulkWrite instance
~GroupBulkWrite Clears parameter storage
getPortHandler Returns PortHandler instance
getPacketHandler Returns PacketHandler instance
addParam Adds parameter storage for read
removeParam Removes parameter on the storage
changeParam Changes parameter on the storage
clearParam Clears parameter storage
txPacket Transmits packet to the number of Dynamixels
  • Enumerator

    None

Method References

addParam
  • Syntax
bool addParam(UINT8_T id, UINT16_T start_address, UINT16_T data_length, UINT8_T *data)
  • Parameters
Parameters Description
id Dynamixel ID
start_address Start address
data_length Data length
data Data for write
  • Detailed Description

    This function pushes id to the Dynamixel ID list, and initializes the parameter storage by setting start_address and data_length. It returns false when the target ID exists already in the ID list, or returns true.

removeParam
  • Syntax
void removeParam(UINT8_T id)
  • Parameters
Parameters Description
id Dynamixel ID
  • Detailed Description

    This function removes target id in the Dynamixel ID list.

changeParam
  • Syntax
 bool changeParam(UINT8_T id, UINT16_T start_address, UINT16_T data_length, UINT8_T *data)
  • Parameters
Parameters Description
id Dynamixel ID
start_address Start address
data_length Data length
data data for write
  • Detailed Description

    This function pushes new data to the parameter storage of same ID. It returns false when the target ID doesn’t exists in the ID list, or returns true.

clearParam
  • Syntax
void clearParam()
  • Parameters

    None

  • Detailed Description

    This function clears the Dynamixel ID list.

txPacket
  • Syntax
int txPacket()
  • Parameters

    None

  • Detailed Description

    This function transmits the packet by using bulkWriteTxOnly() function. It returns COMM_NOT_AVAILABLE when the class uses Protocol 1.0 or there is no item on the Dynamixel ID list, or returns communication result.

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