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

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



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