private void button7_Click(object sender, EventArgs e)
{
if (serialPort1.IsOpen)
{
int devID = Convert.ToInt32(textBox_ID.Text);
byte[] pac = NuriProtocol.GetPacket(devID, NuriMode.NURI_FACTORY_RESET);
serialPort1.Write(pac, 0, pac.Count());
}
}
private void button2_Click(object sender, EventArgs e)
{
if (serialPort1.IsOpen)
{
int devID = Convert.ToInt32(textBox_ID.Text);
double dir = trackBar5.Value;
double pos = (Double)trackBar1.Value / 100;
double vel = (Double)trackBar2.Value / 100;
byte[] pac = NuriProtocol.GetPacket(devID, NuriMode.NURI_SET_POS_VEL, dir, pos, vel);
serialPort1.Write(pac, 0, pac.Count());
}
}
private void button6_Click(object sender, EventArgs e)
{
if (serialPort1.IsOpen)
{
int devID = Convert.ToInt32(textBox_ID.Text);
int Kp = Convert.ToInt32(textBox9.Text);
int Ki = Convert.ToInt32(textBox8.Text);
int Kd = Convert.ToInt32(textBox7.Text);
int Imax = Convert.ToInt32(textBox6.Text) * 10;
byte[] pac = NuriProtocol.GetPacket(devID, NuriMode.NURI_SET_VEL_PID, Kp, Ki, Kd, Imax);
serialPort1.Write(pac, 0, pac.Count());
}
}