public Form1()
{
InitializeComponent();
roboClaw = new Roboclaw();
myTimer.Tick += new EventHandler(TimerEventProcessor); // Timer event and handler
myTimer.Interval = 25; // Timer interval is 25 milliseconds
}
private void disconnectFromRoboclaw(Roboclaw roboclaw)
{
Globals.axisController.stopMotors(roboclaw);
roboclaw.Close();
Console.WriteLine("is roboclaw open? " + roboclaw.IsOpen());
if (roboclaw.IsOpen() == false)
{
connectedToRoboClaw = 0;
}
else
{
Console.WriteLine("Something went wrong. could not disconnect from roboclaw");
connectedToRoboClaw = 1;
}
}
private Roboclaw connectToRoboClaw(Roboclaw roboclaw, int baudRate, byte adress, string comport)
{
roboclaw = new Roboclaw(comport, baudRate, adress);
roboclaw.Open();
Console.WriteLine("is roboclaw open? " + roboclaw.IsOpen());
if (roboclaw.IsOpen() == true)
{
connectedToRoboClaw = 1;
}
else
{
Console.WriteLine("Something went wrong. could not connect to roboclaw. is power on?");
connectedToRoboClaw = 0;
}
return(roboclaw);
}
static void Main(string[] args)
{
Console.WriteLine("Hello World!");
var devices = SerialPort.GetDevices();
var deviceId = devices.First().DeviceID;
var roboClaw = new Roboclaw("COM3", 38400, 0x80);
var test = roboClaw.Open();
roboClaw.GetLogicVoltage(ref voltage);
Console.WriteLine($"Logic voltage: {voltage}");
//roboClaw.ST_M1Forward(100);
//Thread.Sleep(5000);
//roboClaw.ST_M1Backward(100);
//Thread.Sleep(3000);
//roboClaw.ST_M1Forward(0);
//Thread.Sleep(1000);
roboClaw.ST_MixedForward(127);
Thread.Sleep(10000);
roboClaw.ST_MixedBackward(127);
Thread.Sleep(2000);
roboClaw.ST_MixedBackward(0);
roboClaw.Close();
Console.WriteLine("found devices:");
foreach (var device in devices)
{
Console.WriteLine($"{device.Description}");
}
Console.WriteLine("Press any key to close...");
Console.ReadKey();
}
public void stopMotors(Roboclaw roboClaw)
{
roboClaw.ST_M1Forward(0);
roboClaw.ST_M2Forward(0);
}
