public static void setAngle(int roll, int pitch, int yaw, ref ControlCommandStructure cCmd)
{
byte[] byteRead = new byte[100];
RealtimeDataStructure rData = rtD;
cCmd.setMode(MODE_ANGLE);
cCmd.setAnglePitch(pitch);
cCmd.setAngleRoll(roll);
cCmd.setAngleYaw(yaw);
//default 30
cCmd.setSpeedPitch(30);
cCmd.setSpeedRoll(30);
cCmd.setSpeedYaw(30);
if (sendCommand(CMD_CONTROL, cCmd.getControlStructure()))
{
Console.WriteLine("Done!");
//호출을 한번 더 해줘야 함. 이유: 나중에 각도 읽어올때 쓰레기값 보냄
if (sendCommand(CMD_REALTIME_DATA))
{
System.Threading.Thread.Sleep(30);
port.Read(byteRead, 0, 100);
rData = parseRealTimeData(byteRead);
float[] angle = rData.getAngle();
}
}
else
{
Console.WriteLine("Can't send command a message");
return;
}
}
public static void setAngle(int roll,int pitch,int yaw,ref ControlCommandStructure cCmd)
{
byte[] byteRead = new byte[100];
RealtimeDataStructure rData = rtD;
cCmd.setMode(MODE_ANGLE);
cCmd.setAnglePitch(pitch);
cCmd.setAngleRoll(roll);
cCmd.setAngleYaw(yaw);
//default 30
cCmd.setSpeedPitch(30);
cCmd.setSpeedRoll(30);
cCmd.setSpeedYaw(30);
if (sendCommand(CMD_CONTROL, cCmd.getControlStructure()))
{
Console.WriteLine("Done!");
//호출을 한번 더 해줘야 함. 이유: 나중에 각도 읽어올때 쓰레기값 보냄
if (sendCommand(CMD_REALTIME_DATA))
{
System.Threading.Thread.Sleep(30);
port.Read(byteRead, 0, 100);
rData = parseRealTimeData(byteRead);
float[] angle = rData.getAngle();
}
}
else
{
Console.WriteLine("Can't send command a message");
return;
}
}
