public void CanMoveServo(byte id, CommunicationObject sender)
{
var movment1 = new MovmentComandAX12(id, 0x0ff, 0x150);
var movment2 = new MovmentComandAX12(id, 0x1ff, 0x150);
var instructionPacket = new InstructionPacketSyncMovment(sender, movment1);
instructionPacket.Send();
Thread.Sleep(2000);
instructionPacket = new InstructionPacketSyncMovment(sender, movment2);
instructionPacket.Send();
sender.Dispose();
}
public void CanCreateInstructionPacketForSyncedMovment()
{
ISender sender = new FakeSender();
var movment1 = new MovmentComandAX12(0, 0x010, 0x150);
var movment2 = new MovmentComandAX12(1, 0x220, 0x360);
var movment3 = new MovmentComandAX12(2, 0x030, 0x170);
var movment4 = new MovmentComandAX12(3, 0x220, 0x380);
var instructionPacket = new InstructionPacketSyncMovment(sender, movment1, movment2, movment3, movment4);
var corectResult = new byte[]
{
0XFF, 0XFF, 0XFE, 0X18, 0X83, 0X1E, 0X04, 0X00, 0X10, 0X00, 0X50, 0X01, 0X01,
0X20, 0X02, 0X60, 0X03, 0X02, 0X30, 0X00, 0X70, 0X01, 0X03, 0X20, 0X02, 0X80,
0X03, 0X12
};
Assert.AreEqual(corectResult, instructionPacket.ToByte());
// Console.WriteLine(BitConverter.ToString(corectResult));
// Console.WriteLine(BitConverter.ToString(instructionPacket.ToByte()));
}
public void CanMoveServo5()
{
ISender sender = new CommunicationObject("COM4");
var movment1 = new MovmentComandAX12(5, 0x0ff, 0x150);
var movment2 = new MovmentComandAX12(3, 0x0ff, 0x150);
var instructionPacket = new InstructionPacketSyncMovment(sender, movment1, movment2);
instructionPacket.Send();
((CommunicationObject) sender).Dispose();
}
public void RotateBody15degresCW()
{
ISender sender = new CommunicationObject(COMPORT);
Phoenix phoenix = RobotFactory.CreatePhoenix(HomePositionFactory.CreateHomePosition());
phoenix.RotateBody(40,1);
var movments = phoenix.GetMovements();
var instructionPacket = new InstructionPacketSyncMovment(sender, movments);
instructionPacket.Send();
((CommunicationObject)sender).Dispose();
}
public void MoveBodyToStartPosition3()
{
ISender sender = new CommunicationObject(COMPORT);
Phoenix phoenix = RobotFactory.CreatePhoenix(HomePositionFactory.CreateHomePosition4());
var movments = phoenix.GetMovements();
var instructionPacket = new InstructionPacketSyncMovment(sender, movments);
instructionPacket.Send();
Thread.Sleep((int)ServoBase.TimeBox * 1000);
for (int i = 0; i < 15; i++)
{
phoenix.MoveBody(0, 90, -1);
movments = phoenix.GetMovements();
instructionPacket = new InstructionPacketSyncMovment(sender, movments);
instructionPacket.Send();
Thread.Sleep((int)ServoBase.TimeBox * 1000 - 10);
}
for (int i = 0; i < 15; i++)
{
phoenix.MoveBody(0, 90, 1);
movments = phoenix.GetMovements();
instructionPacket = new InstructionPacketSyncMovment(sender, movments);
instructionPacket.Send();
Thread.Sleep((int)ServoBase.TimeBox * 1000 + 10);
}
((CommunicationObject)sender).Dispose();
}
public void MoveBodyToStartPosition()
{
ISender sender = new CommunicationObject("COM4");
Phoenix phoenix = RobotFactory.CreatePhoenix(HomePositionFactory.CreateHomePosition());
var movments = phoenix.GetMovements();
var instructionPacket = new InstructionPacketSyncMovment(sender, movments);
instructionPacket.Send();
((CommunicationObject)sender).Dispose();
}