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;
}
}
private Roboclaw connectToRoboClaw(Roboclaw roboclaw, int baudRate, byte adress, string comport)
{
roboclaw = new Roboclaw(comport, baudRate, adress);
roboclaw.Open();
Console.WriteLine("is roboclaw open? " + roboclaw.IsOpen());
if (roboclaw.IsOpen() == true)
{
connectedToRoboClaw = 1;
}
else
{
Console.WriteLine("Something went wrong. could not connect to roboclaw. is power on?");
connectedToRoboClaw = 0;
}
return(roboclaw);
}
private void buttonConnect_Click(object sender, EventArgs e)
{
if (!roboClaw.IsOpen())
{
roboClaw.Open("AUTO", ref roboClawModel, 128, 38400); // Open the interface to the RoboClaw
labelRoboClawModel.Text = roboClawModel; // Display the RoboClaw device model number
roboClaw.ResetEncoders();
buttonConnect.Enabled = false;
buttonGoForward.Enabled = true;
buttonGoReverse.Enabled = true;
buttonDisconnect.Enabled = true;
}
}