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(); }