private void bt_disc_Click(object sender, EventArgs e)
{
if (SerialComm.Connected())
{
SerialComm.Disconnect();
lb_conn_state.Text = "Disconnected";
lb_conn_state.ForeColor = Color.Red;
#region Button_disable
bt_disc.Enabled = false;
bt_conn.Enabled = true;
//control part
bt_forward.Enabled = false;
bt_back.Enabled = false;
bt_left.Enabled = false;
bt_right.Enabled = false;
bt_stop.Enabled = false;
bt_homing.Enabled = false;
//arm part
bt_arm_fw.Enabled = false;
bt_arm_back.Enabled = false;
bt_arm_left.Enabled = false;
bt_arm_right.Enabled = false;
bt_arm_grasp.Enabled = false;
bt_arm_up.Enabled = false;
bt_arm_down.Enabled = false;
bt_homing.Enabled = false;
tbar_servo1.Enabled = false;
tbar_servo2.Enabled = false;
tbar_servo3.Enabled = false;
tbar_servo4.Enabled = false;
#endregion
this.KeyPreview = false;
}
}
private void bt_conn_Click(object sender, EventArgs e)
{
try
{
SerialComm.port = cb_port.SelectedItem.ToString();
SerialComm.baud = Convert.ToInt32(cb_baud.SelectedItem.ToString());
// if (!SerialComm.Connected())
//{
bt_conn.Enabled = false;
SerialComm.Connect();
if (SerialComm.Connected())
{
lb_conn_state.Text = "Connected";
lb_conn_state.ForeColor = Color.Green;
#region Button_enable
this.KeyPreview = true;
//control part
bt_disc.Enabled = true;
bt_conn.Enabled = false;
bt_stop.Enabled = true;
bt_forward.Enabled = true;
bt_back.Enabled = true;
bt_left.Enabled = true;
bt_right.Enabled = true;
//arm part
bt_arm_fw.Enabled = true;
bt_arm_back.Enabled = true;
bt_arm_left.Enabled = true;
bt_arm_right.Enabled = true;
bt_arm_grasp.Enabled = true;
bt_arm_up.Enabled = true;
bt_arm_down.Enabled = true;
bt_stop.Enabled = true;
bt_homing.Enabled = true;
tbar_servo1.Enabled = true;
tbar_servo2.Enabled = true;
tbar_servo3.Enabled = true;
tbar_servo4.Enabled = true;
#endregion
}
//}
}
catch (Exception ex)
{
MessageBox.Show("Serial port open error: " + ex.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);
lb_conn_state.Text = "Error!";
lb_conn_state.ForeColor = Color.Red;
}
}
private void Update_degree()
{
SerialComm.Send_cmd(CMD + Convert.ToString(servo_deg));
}
private void Update_PWM()
{
SerialComm.Send_cmd(this.SPD_CMD + Convert.ToString(PWM));
}
public void Backward()
{
SerialComm.Send_cmd(Command.BACK_CMD);
}
public void Forward()
{
SerialComm.Send_cmd(Command.FORWARD_CMD);
}
public void TurnRight()
{
SerialComm.Send_cmd(Command.RIGHT_CMD);
}
public void TurnLeft()
{
SerialComm.Send_cmd(Command.LEFT_CMD);
}
public void Soft_STOP()
{
SerialComm.Send_cmd(Command.SOFT_STOP_CMD);
}
public void Stop()
{
SerialComm.Send_cmd(Command.STOP_CMD);
}