public static void CorvusManagerTest()
{
CorvusManager cm = new CorvusManager("COM6", 57600);
cm.rmove(-6, -5, -2);
Thread.Sleep(5000);
cm.rmove(6, 5, 2);
}
// relative move section ------------------------------------------------
private void RelativeMove_Click(object sender, EventArgs ea)
{
// check whether port is open
if (!IsCMSet)
{
MessageBox.Show(
"Not Connected to Corvus Platform through serial port",
"No port connection error",
MessageBoxButtons.OK,
MessageBoxIcon.Error
);
return;
}
// get differential coordinates from user input
float x = 0, y = 0, z = 0;
String txt = ((System.Windows.Forms.Button)sender).Text;
switch (txt)
{
// x+ and x- buttons
case "x+":
x = (float)this.RMoveX.Value;
break;
case "x-":
x = -(float)this.RMoveX.Value;
break;
// y+ and y- buttons
case "y+":
y = (float)this.RMoveY.Value;
break;
case "y-":
y = -(float)this.RMoveY.Value;
break;
// z+ and z- buttons
case "z+":
z = (float)this.RMoveZ.Value;
break;
case "z-":
z = -(float)this.RMoveZ.Value;
break;
// Move all axes button
default:
x = (float)this.RMoveX.Value;
y = (float)this.RMoveY.Value;
z = (float)this.RMoveZ.Value;
break;
}
// send command to platform
CM.rmove(x, y, z);
this.updateCorvusConnectionStatus();
}
