GroupSyncRead not recognized


Hello! I am trying to make a control program using the GroupSyncRead function, but my compiler doesn´t seem to recognize the GroupSyncReadObject.


I am trying to use XH540-W240/T

DYNAMIXEL Controller:

This program is meant to run on an openCR

Software Interface:

I am writing the code on Visual Studio and testing both on arduino and VS

Error I´m getting:
error: ‘portHandler’ is not a type
dynamixel::GroupSyncRead groupSyncRead(portHandler, packetHandler, 200, 11);

***Code snipet of the .h file of the library I´m trying to make
#ifndef DXL_controller
#define DXL_controller

#include “Arduino.h”
#include “DynamixelSDK.h”

#define deviceName “DXL_PORT”

class Controller

int protocol_version;
int baudrate = 57600;

dynamixel::PortHandler *portHandler = dynamixel::PortHandler::getPortHandler(deviceName);

dynamixel::PacketHandler *packetHandler = dynamixel::PacketHandler::getPacketHandler(protocol_version);

//Problematic Line
dynamixel::GroupSyncRead groupSyncRead(portHandler, packetHandler, 116, 4);

int dxl_comm_result = COMM_TX_FAIL; // Communication result
uint8_t dxl_error = 0;              // Dynamixel error