 
   if (dxl_comm_result == COMM_SUCCESS)
   {
-    if (dxl_error != 0) packetHandler->printRxPacketError(dxl_error);
+    if (dxl_error != 0) CMD_SERIAL.println(packetHandler->getRxPacketError(dxl_error));
 
     if (length == 1)
     {


  if (dxl_comm_result == COMM_SUCCESS)
  {
    if (dxl_error != 0) packetHandler->printRxPacketError(dxl_error);
  }
  else
  {
    packetHandler->printTxRxResult(dxl_comm_result);
    CMD_SERIAL.println("Fail to write!");
  }
}

    int dxl_comm_result = packetHandler2->broadcastPing(portHandler, vec);
    if (dxl_comm_result != COMM_SUCCESS)
    {
      CMD_SERIAL.println(packetHandler2->getTxRxResult(dxl_comm_result));
      continue;
    }

