public void CanMoveServo(byte id, CommunicationObject sender)
{
var movment1 = new MovmentComandAX12(id, 0x0ff, 0x150);
var movment2 = new MovmentComandAX12(id, 0x1ff, 0x150);
var instructionPacket = new InstructionPacketSyncMovment(sender, movment1);
instructionPacket.Send();
Thread.Sleep(2000);
instructionPacket = new InstructionPacketSyncMovment(sender, movment2);
instructionPacket.Send();
sender.Dispose();
}
public void CanCreateInstructionPacketForSyncedMovment()
{
ISender sender = new FakeSender();
var movment1 = new MovmentComandAX12(0, 0x010, 0x150);
var movment2 = new MovmentComandAX12(1, 0x220, 0x360);
var movment3 = new MovmentComandAX12(2, 0x030, 0x170);
var movment4 = new MovmentComandAX12(3, 0x220, 0x380);
var instructionPacket = new InstructionPacketSyncMovment(sender, movment1, movment2, movment3, movment4);
var corectResult = new byte[]
{
0XFF, 0XFF, 0XFE, 0X18, 0X83, 0X1E, 0X04, 0X00, 0X10, 0X00, 0X50, 0X01, 0X01,
0X20, 0X02, 0X60, 0X03, 0X02, 0X30, 0X00, 0X70, 0X01, 0X03, 0X20, 0X02, 0X80,
0X03, 0X12
};
Assert.AreEqual(corectResult, instructionPacket.ToByte());
// Console.WriteLine(BitConverter.ToString(corectResult));
// Console.WriteLine(BitConverter.ToString(instructionPacket.ToByte()));
}
public void CanMoveServo5()
{
ISender sender = new CommunicationObject("COM4");
var movment1 = new MovmentComandAX12(5, 0x0ff, 0x150);
var movment2 = new MovmentComandAX12(3, 0x0ff, 0x150);
var instructionPacket = new InstructionPacketSyncMovment(sender, movment1, movment2);
instructionPacket.Send();
((CommunicationObject) sender).Dispose();
}