/*
* Tripod control command
*/
/// <summary>
/// Default constructor
/// </summary>
public APod()
{
// set up
Port = new Connector("COM6", 115100);
Port.Open();
// head
head = new Head(new Servo(14, 1500), new Servo(13, 1500), new Servo(29, 1500),
new Servo(12, 1500), new Servo(28, 1500));
// legs
LeftFront = new Leg(new Servo(16, 1500), new Servo(17, 1500),
new Servo(18, 1500), Leg.LEFT);
LeftCenter = new Leg(new Servo(20, 1500), new Servo(21, 1500),
new Servo(22, 1500), Leg.LEFT);
LeftRear = new Leg(new Servo(24, 1500), new Servo(25, 1500),
new Servo(26, 1500), Leg.LEFT);
RightFront = new Leg(new Servo(0, 1500), new Servo(1, 1500),
new Servo(2, 1500), Leg.RIGHT);
RightCenter = new Leg(new Servo(4, 1500), new Servo(5, 1500),
new Servo(6, 1500), Leg.RIGHT);
RightRear = new Leg(new Servo(8, 1500), new Servo(9, 1500),
new Servo(10, 1500), Leg.RIGHT);
}
private void button2_Click(object sender, EventArgs e)
{
System.IO.Ports.SerialPort sport = new System.IO.Ports.SerialPort(textBox1.Text,
115200,
System.IO.Ports.Parity.None,
8,
System.IO.Ports.StopBits.One);
try
{
sport.Open();
//string cmd = one.Point(Decimal.ToDouble(numericUpDown1.Value), Decimal.ToDouble(numericUpDown2.Value), 1500);
string cmd = Leg.Cmd(one.ch1, 1500, Program.TIME) + Leg.Cmd(one.ch2, 1500, Program.TIME) + Leg.Cmd(one.ch3, 1500, Program.TIME);
toolStripStatusLabel1.Text = cmd;
sport.Write(cmd + "\r");
}
catch (Exception ex)
{
MessageBox.Show(ex.ToString());
}
sport.Close();
}