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);
}
