public void PingServos()
{
CommBuffer buffer = comm.outputBuffer;
buffer.Write(0xFF);
buffer.Write(0x09);
buffer.Write(0x03);
buffer.Write(0x08);
buffer.Write(0x00);
comm.SendMessage();
}
public SerialComm(Robot r, string portName)
{
this.r = r;
this.port = new SerialPort(portName);
this.port.BaudRate = 115200;
this.port.DataBits = 8;
this.port.ReadBufferSize = 512;
this.port.StopBits = StopBits.One;
this.port.Parity = Parity.None;
this.port.Open();
this.port.DataReceived += new SerialDataReceivedEventHandler(port_DataReceived);
this.inputBuffer = new CommBuffer();
this.outputBuffer = new CommBuffer();
}
public void Ping()
{
CommBuffer buffer = comm.outputBuffer;
/*buffer.Write(0xFF);
* buffer.Write(0x0A);
* buffer.Write(0x03);
* buffer.Write(0x08);
* buffer.Write(0x00);*/
buffer.Write(0xFF);
buffer.Write(0x14);
buffer.Write(0x01);
comm.SendMessage();
}