Ejemplo n.º 1
0
 public void sendTossModeCommand(SerialPort2Dynamixel sp2d)
 {
     byte[] buffer = { (byte)'t', (byte)'\r' };
     sp2d.rawWrite(buffer, 2);
     System.Threading.Thread.Sleep(100);
     sp2d.rawRead();
 }
Ejemplo n.º 2
0
        public short getPosition(SerialPort2Dynamixel sp2d, int id)
        {
            //byte[] localbuffer = new byte[MaxBufferSize];
            int size = getReadPositionCommand(buffer, (byte)id);
            byte[] res = sp2d.query(buffer, size, true);

            short position = -1;

            if (res != null)
            {
                int length = res.Length;
                if (res != null && length > 4 && res[4] == 0)
                {
                    byte l = 0;
                    byte h = res[5];
                    if (length > 6)
                    {
                        l = res[6];
                    }

                    position = fromHexHLConversionToShort(h, l);
                }
            }

            return position;
        }
Ejemplo n.º 3
0
 public Bioloid()
 {
     flagConexion = true;
     serialPort = new SerialPort2Dynamixel();
     dynamixel = new Dynamixel();
 }
Ejemplo n.º 4
0
        public bool setPosition(SerialPort2Dynamixel sp2d, int id, int goal)
        {
            bool couldSet = false;

            short position = (short)goal;
            int size = getSetPositionCommand(buffer, (byte)id, (short)goal);
            byte[] res = sp2d.query(buffer, size, false);

            //ushort value = 1;
            if (res != null && res.Length > 4 && res[4] == 0)
                couldSet = true;

            return couldSet;
        }