/// <summary>
/// Sends a single JOG_TAG with S_JOG (TAG.playTime is ignored)
/// </summary>
/// <param name="port"></param>
/// <param name="TAG"></param>
/// <param name="playTime"></param>
private void S_JOG(HerkulexDescription.JOG_TAG TAG, byte playTime)
{
byte[] dataToSend = new byte[5];
dataToSend[0] = playTime;
dataToSend[1] = (byte)(TAG.JOG >> 0);
dataToSend[2] = (byte)(TAG.JOG >> 8);
dataToSend[3] = TAG.SET;
dataToSend[4] = TAG.ID;
EncodeAndSendPacket(serialPort, TAG.ID, (byte)HerkulexDescription.CommandSet.S_JOG, dataToSend);
}
/// <summary>
/// Sends a I_JOG command with a single tag
/// </summary>
/// <param name="port">Serial port to use</param>
/// <param name="TAGS">I_JOG tag config</param>
/// <param name="broadcast">Whether to send the tag with the broadcast ID (false by default)</param>
private void I_JOG(HerkulexDescription.JOG_TAG ServoTag, bool broadcast = false)
{
byte[] dataToSend = new byte[5];
dataToSend[0] = (byte)(ServoTag.JOG >> 0);
dataToSend[1] = (byte)(ServoTag.JOG >> 8);
dataToSend[2] = ServoTag.SET;
if (broadcast)
{
dataToSend[3] = 0xFE;
}
else
{
dataToSend[3] = ServoTag.ID;
}
dataToSend[4] = ServoTag.playTime;
EncodeAndSendPacket(serialPort, ServoTag.ID, (byte)HerkulexDescription.CommandSet.I_JOG, dataToSend);
}
