private void buttonDisconnect_Click(object sender, EventArgs e)
{
if (roboClaw.IsOpen())
{
myTimer.Stop(); // Stop the timer to stop the encoder display updates
roboClaw.Close(); // Close the RoboClaw interface
labelRoboClawModel.Text = " "; // Clear the RoboClaw device model number display
buttonStop.Enabled = false;
buttonGoForward.Enabled = false;
buttonGoReverse.Enabled = false;
buttonGoToZero.Enabled = false;
buttonConnect.Enabled = true;
buttonDisconnect.Enabled = false;
}
}
private void disconnectFromRoboclaw(Roboclaw roboclaw)
{
Globals.axisController.stopMotors(roboclaw);
roboclaw.Close();
Console.WriteLine("is roboclaw open? " + roboclaw.IsOpen());
if (roboclaw.IsOpen() == false)
{
connectedToRoboClaw = 0;
}
else
{
Console.WriteLine("Something went wrong. could not disconnect from roboclaw");
connectedToRoboClaw = 1;
}
}
static void Main(string[] args)
{
Console.WriteLine("Hello World!");
var devices = SerialPort.GetDevices();
var deviceId = devices.First().DeviceID;
var roboClaw = new Roboclaw("COM3", 38400, 0x80);
var test = roboClaw.Open();
roboClaw.GetLogicVoltage(ref voltage);
Console.WriteLine($"Logic voltage: {voltage}");
//roboClaw.ST_M1Forward(100);
//Thread.Sleep(5000);
//roboClaw.ST_M1Backward(100);
//Thread.Sleep(3000);
//roboClaw.ST_M1Forward(0);
//Thread.Sleep(1000);
roboClaw.ST_MixedForward(127);
Thread.Sleep(10000);
roboClaw.ST_MixedBackward(127);
Thread.Sleep(2000);
roboClaw.ST_MixedBackward(0);
roboClaw.Close();
Console.WriteLine("found devices:");
foreach (var device in devices)
{
Console.WriteLine($"{device.Description}");
}
Console.WriteLine("Press any key to close...");
Console.ReadKey();
}