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

CPP GroupSyncRead

  • Description

    Base class for simultaneous dynamixel control on reading.

  • Members

    None

  • Methods

Methods Description
GroupSyncRead Initializes groupSyncRead instance
~GroupSyncRead Clears parameter storage
getPortHandler Returns PortHandler instance
getPacketHandler Returns PacketHandler instance
addParam Adds parameter storage for read
removeParam Removes parameter on the storage
clearParam Clears parameter storage
txPacket Transmits packet to the number of Dynamixels
rxPacket receives packet from the number of Dynamixels
txRxPacket Transmits and receives packet on the number of Dynamixels
isAvailable Checks whether there is available data in the data storage
getData Gets data from received packet
  • Enumerator

    None

Method References

addParam
  • Syntax
bool addParam(UINT8_T id)
  • Parameters
Parameters Description
id Dynamixel ID
  • Detailed Description

    This function pushes id to the Dynamixel ID list, and initializes the parameter storage. It returns false when the class uses Protocol 1.0 or 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. It returns false when the class uses Protocol 1.0 or target ID does not exists in the ID list, or returns true.

clearParam
  • Syntax
void clearParam()
  • Parameters

    None

  • Detailed Description

    This function clears the Dynamixel ID list. It returns false when the class uses Protocol 1.0, or returns true.

txPacket
  • Syntax
int txPacket()
  • Parameters

    None

  • Detailed Description

    This function transmits the packet by using syncReadTx() function. It returns COMM_NOT_AVAILABLE when the class uses Protocol 1.0, or returns communication result.

rxPacket
  • Syntax
int rxPacket()
  • Parameters

    None

  • Detailed Description

    This function receives the packet by using readRx() function. It returns COMM_NOT_AVAILABLE when the class uses Protocol 1.0 or there is no packet that had been received, or returns communication result.

txRxPacket
  • Syntax
int txRxPacket()
  • Parameters

    None

  • Detailed Description

    This function transmits and receives the packet by using txPacket() function and rxPacket() function. It returns COMM_NOT_AVAILABLE when the class uses Protocol 1.0 or the packet transmission had not succeeded, or returns communication result.

isAvailable
  • Syntax
bool isAvailable(uint8_t id, uint16_t address, uint16_t data_length)
  • Parameters
Parameters Description
id Dynamixel ID
address Address on the control table of Dynamixel
data Packet data
  • Detailed Description

    This function checks whether there is available data in the data storage. It returns false when used Protocol is 1.0 version or there is no data from target address, or returns true.

getData
  • Syntax
uint32_t getData(UINT8_T id, UINT16_T address, UINT16_T data_length)
  • Parameters
Parameters Description
id Dynamixel ID
address Address on the control table of Dynamixel
data length Data length
  • Detailed Description

    This function gets specific data from received packet. It returns value.

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