public static void ControlCmds(MotorCommands cmd)
{
switch(cmd)
{
case MotorCommands.Forward:
InitRobot.Forward();
break;
case MotorCommands.Reverse:
InitRobot.Reverse();
break;
case MotorCommands.Left:
InitRobot.SpinLeft();
break;
case MotorCommands.Right:
InitRobot.SpinRight();
break;
default:
case MotorCommands.Stop:
InitRobot.Stop();
break;
}
}
/// <summary>
/// Sends the passed command and arguments to the microcontroller. If the array
/// is null, then it is assumed the command does not take arguments.
/// </summary>
/// <param name="cmd">The command to send</param>
/// <param name="bytes">The arguments to the command. If null, no arguments are sent</param>
protected void command(MotorCommands cmd, byte[] bytes)
{
int size = (bytes == null ? 3 : bytes.Length + 3);
byte[] cmdString = new byte[size];
cmdString[0] = (byte)MotorCommands.COMMAND_START;
cmdString[1] = (byte) cmd;
if (bytes != null) System.Array.Copy(bytes, 0, cmdString,2, bytes.Length);
cmdString[size-1] = (byte)MotorCommands.COMMAND_STOP;
Console.WriteLine("Sending Command: ");
for (int i = 0; i < cmdString.Length; i++)
{
Console.WriteLine(cmdString[i]);
}
myMotors.Write(cmdString, 0, cmdString.Length);
}
/* The only difference is the the below method. The rest of it is very similar to the GPS code */
protected void command(MotorCommands cmd, byte[] bytes)
{
int size = (bytes == null ? 3 : bytes.Length + 3);
byte[] cmdString = new byte[size];
cmdString[0] = (byte)MotorCommands.COMMAND_START;
cmdString[1] = (byte)cmd;
//Console.WriteLine(cmdString[1]);
//Console.WriteLine((byte)cmd);
if (bytes != null) System.Array.Copy(bytes, 0, cmdString, 2, bytes.Length);
cmdString[size-1] = (byte)MotorCommands.COMMAND_STOP;
myMotors.Write(cmdString, 0, cmdString.Length);
receive_log.AppendText("Command Length: " + cmdString.Length + "\n");
for (int i = 0; i < cmdString.Length; i++)
{
//Console.Write(cmdString[i] + " ");
receive_log.AppendText(cmdString[i] + " ");
}
Console.WriteLine();
receive_log.AppendText("\n");
}
