public string sendCmd(REMOTECMD cmd, float val = 0)
{
String sb;
switch (cmd)
{
case REMOTECMD.SET_STEP_TIME:
case REMOTECMD.SET_STEP_UPZ:
sb = String.Format("{0:D} {1:F}", cmd, val);
writeToSocket(sb);
return(readFormSocket());
case REMOTECMD.SET_SELECT_POS:
sb = String.Format("{0:D} {1:D}", cmd, (int)val);
writeToSocket(sb);
return(readFormSocket());
case REMOTECMD.GET_FILE_LIST:
case REMOTECMD.WALKING_RIPP:
case REMOTECMD.WALKING_TRI:
case REMOTECMD.WALKING_WAV:
case REMOTECMD.WALKING_STOP:
sb = String.Format("{0:D}", cmd);
writeToSocket(sb);
return(readFormSocket());
default:
return("NACK");
}
}
private void Window_Initialized(object sender, EventArgs e)
{
remoteRobot = new SixpodSocket(txt_ipaddress.Text, this);
sld_stepTime.Minimum = 1;
sld_stepTime.Maximum = 10;
sld_stepTime.SmallChange = 1;
sld_stepTime.Value = 5;
sld_gaitZPercent.Minimum = 0;
sld_gaitZPercent.Maximum = 100;
sld_gaitZPercent.SmallChange = 1;
sld_gaitZPercent.LargeChange = 5;
sld_gaitZPercent.Value = 50;
gaitType = REMOTECMD.WALKING_WAV;
rdo_wave.IsChecked = true;
}
private void rdo_tripod_Checked(object sender, RoutedEventArgs e)
{
gaitType = REMOTECMD.WALKING_TRI;
}
private void rdo_ripple_Checked(object sender, RoutedEventArgs e)
{
gaitType = REMOTECMD.WALKING_RIPP;
}
private void rdo_wave_Checked(object sender, RoutedEventArgs e)
{
gaitType = REMOTECMD.WALKING_WAV;
}
