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


  if (dxl_comm_result == COMM_SUCCESS)
  {
    if (dxl_error != 0) packetHandler->printRxPacketError(dxl_error);

    if (length == 1)
    {

  }
  else
  {
    CMD_SERIAL.println(packetHandler->getTxRxResult(dxl_error));
    CMD_SERIAL.println("Fail to read! ");
  }

