mercury::GroupSyncWrite Class Reference

The class for writing multiple Dynamixel data from same address with same length at once. More...

#include <group_sync_write.h>

Inheritance diagram for mercury::GroupSyncWrite:

Public Member Functions
	GroupSyncWrite (PortHandler *port, PacketHandler *ph, uint16_t start_address, uint16_t data_length)
	The function that Initializes instance for Sync Write. More...
	~GroupSyncWrite ()
	The function that calls clearParam function to clear the parameter list for Sync Write. More...
bool	addParam (uint8_t id, uint8_t *data)
	The function that adds id, start_address, data_length to the Sync Write list. More...
void	removeParam (uint8_t id)
	The function that removes id from the Sync Write list. More...
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. More...
void	clearParam ()
	The function that clears the Sync Write list. More...
int	txPacket ()
	The function that transmits the Sync Write instruction packet which might be constructed by GroupSyncWrite::addParam function. More...
Public Member Functions inherited from mercury::GroupHandler
	GroupHandler (PortHandler *port, PacketHandler *ph)
PortHandler *	getPortHandler ()
PacketHandler *	getPacketHandler ()

Additional Inherited Members
Protected Attributes inherited from mercury::GroupHandler
PortHandler *	port_
PacketHandler *	ph_
std::vector< uint8_t >	id_list_
std::map< uint8_t, uint8_t * >	data_list_
bool	is_param_changed_
uint8_t *	param_

Detailed Description

The class for writing multiple Dynamixel data from same address with same length at once.

Definition at line 36 of file group_sync_write.h.

Constructor & Destructor Documentation

GroupSyncWrite()

GroupSyncWrite::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

Definition at line 34 of file group_sync_write.cpp.

~GroupSyncWrite()

mercury::GroupSyncWrite::~GroupSyncWrite ( )

inline

The function that calls clearParam function to clear the parameter list for Sync Write.

Definition at line 57 of file group_sync_write.h.

Member Function Documentation

addParam()

bool GroupSyncWrite::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

when the ID exists already in the list

or true

Definition at line 65 of file group_sync_write.cpp.

changeParam()

bool GroupSyncWrite::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

when the ID doesn't exist in the list

or true

Definition at line 92 of file group_sync_write.cpp.

clearParam()

void GroupSyncWrite::clearParam

(

)

The function that clears the Sync Write list.

Definition at line 107 of file group_sync_write.cpp.

removeParam()

void GroupSyncWrite::removeParam

(

uint8_t

id

)

The function that removes id from the Sync Write list.

Parameters

id	Dynamixel ID

Definition at line 79 of file group_sync_write.cpp.

txPacket()

int GroupSyncWrite::txPacket

(

)

The function that transmits the Sync Write instruction packet which might be constructed by GroupSyncWrite::addParam function.

Returns

COMM_NOT_AVAILABLE

when the list for Sync Write is empty

or the other communication results which come from PacketHandler::syncWriteTxOnly

Definition at line 122 of file group_sync_write.cpp.

---

The documentation for this class was generated from the following files:

• c++/include/mercury_sdk/group_sync_write.h
• c++/src/mercury_sdk/group_sync_write.cpp