public void RotationAssist(int forceOrSpeed, int target, int leftAngle, int rightAngle)
{
ControlParamPackage paramPackage = new ControlParamPackage();
//paramPackage.RotationaForce = force;
//paramPackage.RotationSpeed = speed;
paramPackage.RotationaForceOrSpeed = forceOrSpeed;
paramPackage.RotationTarget = target;
paramPackage.LeftRotationAngleLimit = leftAngle;
paramPackage.RightRotationAngleLimit = rightAngle;
WriteData(CreateParamBuffer(paramPackage, ControlParamType.Rotationa));
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.Assist;
package.CommandParam = CommandParam.Rotation;
WriteData(CreateCommandBuffer(package));
}
public void PushRodStop()
{
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.PushRodStop;
WriteData(CreateCommandBuffer(package));
}
public void RotationIsotonicA()
{
ControlParamPackage paramPackage = new ControlParamPackage();
WriteData(CreateParamBuffer(paramPackage, ControlParamType.Rotationa));
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.IsotonicA2;
package.CommandParam = CommandParam.Rotation;
WriteData(CreateCommandBuffer(package));
}
public void RotationIsotonicB(int forceOrSpeed, int target, int bendAngle, int stretchAngle,bool isControl)
{
ControlParamPackage paramPackage = new ControlParamPackage();
paramPackage.RotationaForceOrSpeed = forceOrSpeed;
paramPackage.RotationTarget = target * -1;
paramPackage.LeftRotationAngleLimit = bendAngle;
paramPackage.RightRotationAngleLimit = stretchAngle;
WriteData(CreateParamBuffer(paramPackage, ControlParamType.Rotationa));
if (isControl)
{
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.IsotonicB;
package.CommandParam = CommandParam.Rotation;
WriteData(CreateCommandBuffer(package));
}
}
public void BendStretchIsotonicA()
{
ControlParamPackage paramPackage = new ControlParamPackage();
WriteData(CreateParamBuffer(paramPackage, ControlParamType.BendStretch));
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.IsotonicA2;
package.CommandParam = CommandParam.BendStretch;
WriteData(CreateCommandBuffer(package));
}
public void BendStretchIsotonicB(int forceOrSpeed, int target, int bendAngle, int stretchAngle,bool isControl)
{
ControlParamPackage paramPackage = new ControlParamPackage();
paramPackage.BendStretchForceOrSpeed = forceOrSpeed;
paramPackage.BendStretchTarget = target * -1;
//paramPackage.BendStretchForce = force;
//paramPackage.BendStretchSpeed = speed;
paramPackage.BendAngleLimit = bendAngle;
paramPackage.StretchAngleLimit = stretchAngle;
WriteData(CreateParamBuffer(paramPackage, ControlParamType.BendStretch));
if (isControl)
{
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.IsotonicB;
package.CommandParam = CommandParam.BendStretch;
WriteData(CreateCommandBuffer(package));
}
}
public void GetVersion()
{
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.Version;
WriteData(CreateCommandBuffer(package));
}
public void BendStretchAssist(int forceOrSpeed, int target, int bendAngle, int stretchAngle)
{
ControlParamPackage paramPackage = new ControlParamPackage();
paramPackage.BendStretchForceOrSpeed = forceOrSpeed;
paramPackage.BendStretchTarget = target;
//paramPackage.BendStretchForce = force;
//paramPackage.BendStretchSpeed = speed;
paramPackage.BendAngleLimit = bendAngle;
paramPackage.StretchAngleLimit = stretchAngle;
WriteData(CreateParamBuffer(paramPackage, ControlParamType.BendStretch));
Thread.Sleep(10);
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.Assist;
package.CommandParam = CommandParam.BendStretch;
WriteData(CreateCommandBuffer(package));
}
public void Reset()
{
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.Reset;
WriteData(CreateCommandBuffer(package));
}
public void Homing()
{
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.SetZero;
WriteData(CreateCommandBuffer(package));
}
public void SensorInit()
{
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.SensorInit;
WriteData(CreateCommandBuffer(package));
}
public void QuickStopCmd()
{
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.QuickStop;
WriteData(CreateCommandBuffer(package));
}
public void PauseCmd()
{
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.Pause;
WriteData(CreateCommandBuffer(package));
}
public void Free2(CommandParam param)
{
ControlCommandPackage package = new ControlCommandPackage();
package.CommandType = CommandType.Free2;
package.CommandParam = param;
WriteData(CreateCommandBuffer(package));
}
/// <summary>
/// 发送字节***2015.11.17
/// </summary>
/// <param name="package"></param>
/// <returns></returns>
private byte[] CreateCommandBuffer(ControlCommandPackage package)
{
byte[] result = new byte[8];
if (package.CommandType == CommandType.Version)
{
result[0] = 0x81;
result[1] = BitConverter.GetBytes(Math.Abs((int)package.CommandType))[0];
}
else if (package.CommandType == CommandType.PushRodUp || package.CommandType == CommandType.PushRodDown || package.CommandType == CommandType.PushRodStop)
{
result[0] = 0x62;
result[1] = BitConverter.GetBytes((int)package.CommandType)[0];
}
else
{
result[0] = 0x61;
result[1] = BitConverter.GetBytes((int)package.CommandType)[0];
switch (package.CommandType)
{
case CommandType.Assist:
result[2] = BitConverter.GetBytes((int)package.CommandParam)[0];
break;
case CommandType.ErrorReset:
break;
case CommandType.Free:
result[2] = BitConverter.GetBytes((int)package.CommandParam)[0];
break;
case CommandType.Free2:
result[2] = BitConverter.GetBytes((int)package.CommandParam)[0];
break;
case CommandType.FreeConstantResistance:
result[2] = BitConverter.GetBytes((int)package.CommandParam)[0];
break;
case CommandType.FreeCounterWeight:
result[2] = BitConverter.GetBytes((int)package.CommandParam)[0];
break;
case CommandType.Guided:
result[2] = BitConverter.GetBytes((int)package.CommandParam)[0];
break;
case CommandType.IsotonicA:
result[2] = BitConverter.GetBytes((int)package.CommandParam)[0];
break;
case CommandType.IsotonicB:
result[2] = BitConverter.GetBytes((int)package.CommandParam)[0];
break;
case CommandType.Reset:
break;
case CommandType.SensorInit:
break;
case CommandType.Pause:
break;
}
}
return result;
}
