public IDevice SetMotionControl_houtui() { byte[] result; MotionControlCommand cmd = new MotionControlCommand(0x04, eMoveDirection.BackOff, eSpeed.Speed1, eLogicalDirection.LogicalGo, 2); _port.Write(_serialize.Serialize <MotionControlCommand>(cmd)) .Read(out result); return(this); }
public IDevice SettrafficControlOutPut() { byte[] result; MotionControlCommand cmd = new MotionControlCommand(0x03, eMoveDirection.FrontPatrol, eSpeed.Speed2, eLogicalDirection.LogicalGo, 2); _port.Write(_serialize.Serialize <MotionControlCommand>(cmd)) .Read(out result); return(this); }
/// <summary> /// 前进 /// </summary> /// <returns></returns> public IDevice SetMotionControl_qianjing() { byte[] result; MotionControlCommand cmd = new MotionControlCommand(0x03, eMoveDirection.Advancing, eSpeed.Speed1, eLogicalDirection.LogicalGo, 2); _port.Write(_serialize.Serialize <MotionControlCommand>(cmd)) .Read(out result); return(this); }
/// <summary> /// 运动控制 ok /// </summary> /// <returns></returns> public IDevice SetMotionControl() { byte[] result; MotionControlCommand cmd = new MotionControlCommand(0x02, eMoveDirection.TurnRight, eSpeed.Speed2, eLogicalDirection.LogicalGo, 2); _port.Write(_serialize.Serialize <MotionControlCommand>(cmd)) .Read(out result); if (null != result) { if (result.Length > 2) { if (0xFF == result[1]) { var res = _serialize.Deserialize <ErrorReportingResult>(result); } else { var res = _serialize.Deserialize <MotionControlResult>(result); } } } return(this); }
/// <summary> /// 实时交通控制 (节点动作设置,断电不保存) /// </summary> /// <returns></returns> public IDevice SettrafficControl() { byte[] result; MotionControlCommand cmd = new MotionControlCommand(0x02, eMoveDirection.FrontPatrol, eSpeed.Speed2, eLogicalDirection.LogicalGo, 2); _port.Write(_serialize.Serialize <MotionControlCommand>(cmd)) .Read(out result); trafficControlCommand cmd1 = new trafficControlCommand(0x02, eNodeNumber.Undefined, eAction.Alarm, 0x00, 0x00); byte[] fgfg = _serialize.Serialize <trafficControlCommand>(cmd1); _port.Write(_serialize.Serialize <trafficControlCommand>(cmd1)) .Read(out result); trafficControlCommand cmd2 = new trafficControlCommand(0x02, eNodeNumber.Node_3, eAction.Estop, 0x00, 0x00, eAction.BackOff, 0x01, 0); _port.Write(_serialize.Serialize <trafficControlCommand>(cmd2)) .Read(out result); //trafficControlCommand cmd3 = new trafficControlCommand(0x02, eNodeNumber.Node_2, eAction.AppointStall, 2, 0); //_port.Write(_serialize.Serialize<trafficControlCommand>(cmd3)) // .Read(out result); return(this); }