//void ClearCrossedNode(int vnum) //{ // for (int i = 0; i < vehicles[vnum].Route.Count-1; i++) // { // ElecMap.Instance.mapnode[vehicles[vnum].Route[i].X, vehicles[vnum].Route[i].Y].NodeCanUsed = -1; // } //} void SendSwerveCommand(int vnum, int angle) { SwervePacket sp = new SwervePacket((byte)(serinum * vnum), (ushort)vnum, new AgvDriftAngle((ushort)angle)); AgvServerManager.Instance.SendTo(sp, vnum); Console.WriteLine("send Swerver..."); }
private void button1_Click(object sender, EventArgs e) { int vnum = 5; angle = (angle + 90) % 360; SwervePacket sp = new SwervePacket((byte)(1 * vnum), (ushort)vnum, new AgvDriftAngle((ushort)angle)); Console.WriteLine(angle); AgvServerManager.Instance.SendTo(sp, vnum); }