public void sendmsg(SendVar sendVar, int num)//给机械臂蓝牙串口发送控制指令 { string strAngle = ""; string strtimes = ""; string msg = ""; if (sendVar.Times < 100) { strtimes = "T00" + sendVar.Times.ToString() + "!\r\n"; } if (sendVar.Times >= 100 && sendVar.Times < 1000) { strtimes = "T0" + sendVar.Times.ToString() + "!\r\n"; } if (sendVar.Times >= 1000) { strtimes = "T" + sendVar.Times.ToString() + "!\r\n"; } if (sendVar.Angle < 1000) { strAngle = "P0" + sendVar.Angle.ToString(); } if (sendVar.Angle >= 1000) { strAngle = "P" + sendVar.Angle.ToString(); } msg = "{#00" + sendVar.Id.ToString() + strAngle + strtimes + "}"; form.SendMsg(msg, num); }
public void Joint3Run(double angle, int num, int times) { SendVar sendVar = new SendVar(); sendVar.Id = 3; sendVar.Angle = (int)(angle * 7.8) + 1500; sendVar.Times = times; msg.sendmsg(sendVar, num); Thread.Sleep(sendVar.Times); }
/**************3号舵机*****************/ public void Joint3Run(double angle, int num, ref double lastAngle) { SendVar sendVar = new SendVar(); sendVar.Id = 3; sendVar.Angle = (int)(angle * 7.8) + 1500; sendVar.Times = (int)Math.Abs(angle - lastAngle) * 50; msg.sendmsg(sendVar, num); lastAngle = angle; Thread.Sleep(sendVar.Times); }
public void Joint0Run(double angle, int num, int times) { SendVar sendVar = new SendVar(); double temp; sendVar.Id = 0; temp = angle * 7.8; sendVar.Angle = (int)temp + 1500; sendVar.Times = times; msg.sendmsg(sendVar, num); Thread.Sleep(sendVar.Times); }