/// <summary>
/// stop情况下电机off
/// </summary>
/// <param name="sender"></param>
/// <param name="e"></param>
private void btn_Stop_Click(object sender, EventArgs e)
{
JohnbeeSerialPort.Send_ComData(1, TopId, (byte)FormSetId.ID_Motor_Stop);
btn_MotorOn.Text = "MotorOn";
tb_State.Text = "OFF";
JohnbeeSerialPort.Send_ComData(0, TopId, (byte)FormSetId.ID_Motor_State);
}
private void btn_MotorOn_Click(object sender, EventArgs e)
{
if (btn_MotorOn.Text == "MotorOn")
{
btn_MotorOn.Text = "MotorOff";
tb_State.Text = "ON";
JohnbeeSerialPort.Send_ComData(1, TopId, (byte)FormSetId.ID_Motor_State);
nUD_MaxAmprage.Enabled = false;
nUD_MaxSpd.Enabled = false;
Comb_Mode.Enabled = false;
if (Comb_Mode.SelectedIndex == 0)
{
nUD_SetDistance.Enabled = true;
}
else if (Comb_Mode.SelectedIndex == 1)
{
nUD_SetSpd.Enabled = true;
}
}
else
{
btn_MotorOn.Text = "MotorOn";
tb_State.Text = "OFF";
JohnbeeSerialPort.Send_ComData(0, TopId, (byte)FormSetId.ID_Motor_State);
nUD_MaxAmprage.Enabled = true;
nUD_MaxSpd.Enabled = true;
Comb_Mode.Enabled = true;
nUD_SetDistance.Enabled = false;
nUD_SetSpd.Enabled = false;
}
}
private void FormSet_Load(object sender, EventArgs e)
{
JohnbeeSerialPort.ComDataChangeEvent += Reflash_Form;
//先off电机
JohnbeeSerialPort.Send_ComData(0, TopId, (byte)FormSetId.ID_Motor_State);
nUD_SetDistance.Enabled = false;
nUD_SetSpd.Enabled = false;
//richTextBox1.Enabled = false;
MyRecongizer.SpeechRecognized += MyRecongizer_SpeechRecognized;
MotorGrammar.Add(MyCallHelpGrammar);
MotorGrammar.Add(MySetParamGrammar);
MotorGrammar.Add(MyMotorOperatingGrammar);
foreach (TopGrammar gra in MotorGrammar)
{
MyRecongizer.LoadGrammar(gra.RootGrammar);
richTextBox1.Text += gra.RootGrammar_ShowPhrase + "\n";
}
MyRecongizer.SetInputToDefaultAudioDevice(); //设置输入为麦克风
MyRecongizer.RecognizeAsync(RecognizeMode.Multiple); //异步执行识别
}
private void Comb_Mode_SelectedIndexChanged(object sender, EventArgs e)
{
JohnbeeSerialPort.Send_ComData(Comb_Mode.SelectedIndex, TopId, (byte)FormSetId.ID_Motor_Mode);
}
private void numericUpDown_Loc_Kd3_ValueChanged(object sender, EventArgs e)
{
JohnbeeSerialPort.Send_ComData(numericUpDown_Loc_Kd3.Value, TopId, (byte)(byte)(byte)FormPIDId.ID_Loc_Kd3);
}
private void numericUpDown_Psi_Ki2_ValueChanged(object sender, EventArgs e)
{
JohnbeeSerialPort.Send_ComData(numericUpDown_Psi_Ki2.Value, TopId, (byte)FormPIDId.ID_Psi_Ki2);
}