Class BulkReadWrite

java/protocol2.0/bulk_read_write/BulkReadWrite.java:31–270

import java.util.Scanner;

public class BulkReadWrite
{
  public static void main(String[] args)
  {
    // Control table address
    short ADDR_PRO_TORQUE_ENABLE        = 562;                 // Control table address is different in Dynamixel model
    short ADDR_PRO_LED_RED              = 563;
    short ADDR_PRO_GOAL_POSITION        = 596;
    short ADDR_PRO_PRESENT_POSITION     = 611;

    // Data Byte Length
    short LEN_PRO_LED_RED               = 1;
    short LEN_PRO_GOAL_POSITION         = 4;
    short LEN_PRO_PRESENT_POSITION      = 4;

    // Protocol version
    int PROTOCOL_VERSION                = 2;                   // See which protocol version is used in the Dynamixel

    // Default setting
    byte DXL1_ID                        = 1;                   // Dynamixel ID: 1
    byte DXL2_ID                        = 2;                   // Dynamixel ID: 2
    int BAUDRATE                        = 57600;
    String DEVICENAME                   = "/dev/ttyUSB0";      // Check which port is being used on your controller
                                                               // ex) Windows: "COM1"   Linux: "/dev/ttyUSB0" Mac: "/dev/tty.usbserial-*"

    byte TORQUE_ENABLE                  = 1;                   // Value for enabling the torque
    byte TORQUE_DISABLE                 = 0;                   // Value for disabling the torque
    int DXL_MINIMUM_POSITION_VALUE      = -150000;             // Dynamixel will rotate between this value
    int DXL_MAXIMUM_POSITION_VALUE      = 150000;              // and this value (note that the Dynamixel would not move when the position value is out of movable range. Check e-manual about the range of the Dynamixel you use.)
    int DXL_MOVING_STATUS_THRESHOLD     = 20;                  // Dynamixel moving status threshold

    String KEY_FOR_ESCAPE               = "e";                 // Key for escape

    int COMM_SUCCESS                    = 0;                   // Communication Success result value
    int COMM_TX_FAIL                    = -1001;               // Communication Tx Failed

    // Instead of getch
    Scanner scanner = new Scanner(System.in);

    // Initialize Dynamixel class for java
    Dynamixel dynamixel = new Dynamixel();

    // Initialize PortHandler Structs
    // Set the port path
    // Get methods and members of PortHandlerLinux or PortHandlerWindows
    int port_num = dynamixel.portHandler(DEVICENAME);

    // Initialize PacketHandler Structs
    dynamixel.packetHandler();

    // Initialize GroupBulkWrite Struct
    int groupwrite_num = dynamixel.groupBulkWrite(port_num, PROTOCOL_VERSION);

    // Initialize Groupsyncwrite instance
    int group_num = dynamixel.groupBulkRead(port_num, PROTOCOL_VERSION);

    int index = 0;
    int dxl_comm_result = COMM_TX_FAIL;                         // Communication result