static public int ArmCommandCallback(Comnet.Header header, Comnet.ABSPacket packet, Comnet.CommNode node)
{
NGCP.ArmCommand ac = Comnet.ABSPacket.GetValue <NGCP.ArmCommand>(packet);
//do some kind of switch case
//@TODO ARM
int servoPosition = ac.id;
int servoValue = ac.position;
Console.WriteLine("test armCommand");
//id_servo_GUI = ac.id;
//val_servo_GUI = ac.position;
return((Int32)(Comnet.CallBackCodes.CALLBACK_SUCCESS | Comnet.CallBackCodes.CALLBACK_DESTROY_PACKET));
}
public int ArmCommandCallback(Comnet.Header header, Comnet.ABSPacket packet, Comnet.CommNode node)
{
NGCP.ArmCommand ac = Comnet.ABSPacket.GetValue <NGCP.ArmCommand>(packet);
//do some kind of switch case
//@TODO ARM
int armServo = ac.id;
int servoValue = ac.position;
//// this method
switch (armServo)
{
case armY_id: //Arm Stepper Y
Arm_Y_Servo_Box.Text = (servoValue).ToString();
break;
case armX_id: //Arm Stepper X
Arm_X_Servo_Box.Text = (servoValue).ToString();
break;
case turretServo_id: //Turret Servo
Base_Servo_Box.Text = (servoValue).ToString();
break;
case gripper_id: //Gripper
if (servoValue == 1)
{
Gripper_Servo_Box.Text = "Closed";
}
else
{
Gripper_Servo_Box.Text = "Retracted";
}
break;
default:
// write to none of the servos, the id written was not recognized
break;
}
return((Int32)(Comnet.CallBackCodes.CALLBACK_SUCCESS | Comnet.CallBackCodes.CALLBACK_DESTROY_PACKET));
}
/// <summary>
/// This method should be called by an event handler for each time there is a gain to be written for any servo
/// </summary>
/// <param name="servo_id"></param>
/// <param name="write_value"></param>
private void SendArmData(int servo_id, int write_value)
{
//@TODO send values
NGCP.ArmCommand ac = new NGCP.ArmCommand((byte)servo_id, write_value);
comms.Send(ac, UGV_ID);
}
public void SendArmCommand(byte armPartID, int position, byte id = 100)
{
NGCP.ArmCommand ap = new NGCP.ArmCommand(armPartID, position);
Node.Send(ap, id);
}
