private void btnDrive_Click(object sender, EventArgs e)
{
int velocityLeft = 0, velocityRight = 0;
Byte velocityLeftLSB = 0, velocityLeftMSB = 0, velocityRightLSB = 0, velocityRightMSB = 0;
inPacketIndex = 0;
rtbMonitor.Text = "";
if (txtVelocity.Text == "")
{
txtVelocity.Text = "0";
}
if (txtRadius.Text == "")
{
txtRadius.Text = "0";
}
String strVelocityLeft = txtVelocity.Text;
velocityLeft = (int)Convert.ToDecimal(strVelocityLeft);
if (velocityLeft > 500)
{
velocityLeft = 500;
}
else if (velocityLeft < -500)
{
velocityLeft = -500;
}
strVelocityLeft = velocityLeft.ToString();
txtVelocity.Text = strVelocityLeft;
String strVelocityRight = txtRadius.Text;
velocityRight = (int)Convert.ToDecimal(strVelocityRight);
if (velocityRight > 500)
{
velocityRight = 500;
}
else if (velocityRight < -500)
{
velocityRight = -500;
}
strVelocityRight = velocityRight.ToString();
txtRadius.Text = strVelocityRight;
result.integer = (Int16)velocityLeft;
// result = ConvertToTwosComplement(velocityLeft);
velocityLeftLSB = result.LSBbyte;
velocityLeftMSB = result.MSBbyte;
// result = ConvertToTwosComplement(velocityRight);
result.integer = (Int16)velocityRight;
velocityRightLSB = result.LSBbyte;
velocityRightMSB = result.MSBbyte;
txtCommand1.Text = velocityLeftMSB.ToString();
txtCommand2.Text = velocityLeftLSB.ToString();
txtCommand3.Text = velocityRightMSB.ToString();
txtCommand4.Text = velocityRightLSB.ToString();
byte[] arrPacketData = new byte[MAXPACKET];
arrPacketData[0] = 145;
arrPacketData[1] = velocityLeftMSB;
arrPacketData[2] = velocityLeftLSB;
arrPacketData[3] = velocityRightMSB;
arrPacketData[4] = velocityRightLSB;
byte[] arrOutPacket = new byte[MAXPACKET];
outPacketLength = BuildPacket(0, ref arrPacketData, 5, ref arrOutPacket);
if (outPacketLength > 0)
{
UserPort1.WriteBytesToComPort(arrOutPacket, 0, outPacketLength);
}
}
private void btnReset_Click(object sender, EventArgs e)
{
// rtbMonitor.Text = "";
Byte[] arrData = new Byte[5];
arrData[0] = STX;
arrData[1] = ROOMBA;
arrData[2] = RESET;
arrData[3] = 0;
arrData[4] = ETX;
UserPort1.WriteBytesToComPort(arrData, 0, 5);
}