public void RotationIsotonicB(int forceOrSpeed, int target, int bendAngle, int stretchAngle,bool isControl)
{
ControlParamPackage paramPackage = new ControlParamPackage();
paramPackage.RotationaForceOrSpeed = forceOrSpeed;
paramPackage.RotationTarget = target * -1;
paramPackage.LeftRotationAngleLimit = bendAngle;
paramPackage.RightRotationAngleLimit = stretchAngle;
WriteData(CreateParamBuffer(paramPackage, ControlParamType.Rotationa));
if (isControl)
{
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.IsotonicB;
package.CommandParam = CommandParam.Rotation;
WriteData(CreateCommandBuffer(package));
}
}
public void RotationAssist(int forceOrSpeed, int target, int leftAngle, int rightAngle)
{
ControlParamPackage paramPackage = new ControlParamPackage();
//paramPackage.RotationaForce = force;
//paramPackage.RotationSpeed = speed;
paramPackage.RotationaForceOrSpeed = forceOrSpeed;
paramPackage.RotationTarget = target;
paramPackage.LeftRotationAngleLimit = leftAngle;
paramPackage.RightRotationAngleLimit = rightAngle;
WriteData(CreateParamBuffer(paramPackage, ControlParamType.Rotationa));
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.Assist;
package.CommandParam = CommandParam.Rotation;
WriteData(CreateCommandBuffer(package));
}
public void RotationIsotonicA()
{
ControlParamPackage paramPackage = new ControlParamPackage();
WriteData(CreateParamBuffer(paramPackage, ControlParamType.Rotationa));
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.IsotonicA2;
package.CommandParam = CommandParam.Rotation;
WriteData(CreateCommandBuffer(package));
}
public void BendStretchIsotonicB(int forceOrSpeed, int target, int bendAngle, int stretchAngle,bool isControl)
{
ControlParamPackage paramPackage = new ControlParamPackage();
paramPackage.BendStretchForceOrSpeed = forceOrSpeed;
paramPackage.BendStretchTarget = target * -1;
//paramPackage.BendStretchForce = force;
//paramPackage.BendStretchSpeed = speed;
paramPackage.BendAngleLimit = bendAngle;
paramPackage.StretchAngleLimit = stretchAngle;
WriteData(CreateParamBuffer(paramPackage, ControlParamType.BendStretch));
if (isControl)
{
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.IsotonicB;
package.CommandParam = CommandParam.BendStretch;
WriteData(CreateCommandBuffer(package));
}
}
public void BendStretchIsotonicA()
{
ControlParamPackage paramPackage = new ControlParamPackage();
WriteData(CreateParamBuffer(paramPackage, ControlParamType.BendStretch));
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.IsotonicA2;
package.CommandParam = CommandParam.BendStretch;
WriteData(CreateCommandBuffer(package));
}
public void BendStretchAssist(int forceOrSpeed, int target, int bendAngle, int stretchAngle)
{
ControlParamPackage paramPackage = new ControlParamPackage();
paramPackage.BendStretchForceOrSpeed = forceOrSpeed;
paramPackage.BendStretchTarget = target;
//paramPackage.BendStretchForce = force;
//paramPackage.BendStretchSpeed = speed;
paramPackage.BendAngleLimit = bendAngle;
paramPackage.StretchAngleLimit = stretchAngle;
WriteData(CreateParamBuffer(paramPackage, ControlParamType.BendStretch));
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.Assist;
package.CommandParam = CommandParam.BendStretch;
WriteData(CreateCommandBuffer(package));
}
/// <summary>
///
/// </summary>
/// <param name="package"></param>
/// <param name="type">0 屈伸，1旋转</param>
/// <returns></returns>
private byte[] CreateParamBuffer(ControlParamPackage package, ControlParamType type)
{
byte[] result = new byte[8];
if (type == ControlParamType.BendStretch)
{
result[0] = 0x13;
var temp = BitConverter.GetBytes((short)package.BendStretchForceOrSpeed);
result[1] = temp[0];
result[2] = temp[1];
temp = BitConverter.GetBytes((short)package.BendStretchTarget);
result[3] = temp[0];
result[4] = temp[1];
result[5] = BitConverter.GetBytes(package.BendAngleLimit)[0];
result[6] = BitConverter.GetBytes(package.StretchAngleLimit)[0];
}
else
{
result[0] = 0x14;
var temp = BitConverter.GetBytes((short)package.RotationaForceOrSpeed);
result[1] = temp[0];
result[2] = temp[1];
temp = BitConverter.GetBytes((short)package.RotationTarget);
result[3] = temp[0];
result[4] = temp[1];
result[5] = BitConverter.GetBytes(package.LeftRotationAngleLimit)[0];
result[6] = BitConverter.GetBytes(package.RightRotationAngleLimit)[0];
}
return result;
}
