private void button5_Click(object sender, EventArgs e)
{
byte[] CmdBuf = { 0xa5, 0xf0, 0x02, 0x00, 0x00, 0x57 };
if (SPLidar.IsOpen)
{
SPLidar.Write(CmdBuf, 0, 6);
}
}
private void stopScan()
{
byte[] CmdBuf = { 0xa5, 0x25 };
if (SPLidar.IsOpen)
{
SPLidar.Write(CmdBuf, 0, 2);
}
}
private void button2_Click(object sender, EventArgs e)
{
if (SPLidar.IsOpen)
{
SPLidar.Close();
button1.Enabled = true;
button2.Enabled = false;
}
}
private void button1_Click(object sender, EventArgs e)
{
if (SPLidar.IsOpen)
{
return;
}
SPLidar.Open();
button2.Enabled = true;
button1.Enabled = false;
}
private void InitForm()
{
/*set Serial port name*/
foreach (string s in SerialPort.GetPortNames())
{
comboBox1.Items.Add(s);
}
/*if item in comboBox is more than 1,show it*/
if (comboBox1.Items.Count > 0)
{
comboBox1.SelectedIndex = 0;
SPLidar.PortName = comboBox1.SelectedItem.ToString();
Console.WriteLine("Serial Port is " + SPLidar.PortName);
}
comboBox2.Items.AddRange(new object[] { 4800, 9600, 19200, 38400, 115200, 460800 });
comboBox2.SelectedIndex = 4;
/*initialize lidarSpeed */
lidarSpeed = 0;
if (lidarSpeed > 1024)
{
lidarSpeed = 1024;
}
trackBar1.Value = lidarSpeed;
textBox1.Text = lidarSpeed.ToString();
InitSPLidar();
/*open port, stop scan, start rotating*/
foreach (string s in SerialPort.GetPortNames())
{
SPLidar.PortName = s;
SPLidar.Open();
if (SPLidar.IsOpen)
{
stopScan();
updateSpeed();
stopScan();
SPLidar.Close();
}
}
/*close form1*/
Console.WriteLine("close this form automotive");
//this.Close();
}
private void updateSpeed()
{
byte[] CmdBuf = { 0xa5, 0xf0, 0x02, 0x58, 0x02, 0x0d };
CmdBuf[5] = (0xa5 ^ 0xf0 ^ 0x02);
CmdBuf[3] = (byte)(lidarSpeed & 0xff);
CmdBuf[5] ^= CmdBuf[3];
CmdBuf[4] = (byte)(lidarSpeed >> 8 & 0xff);
CmdBuf[5] ^= CmdBuf[4];
if (SPLidar.IsOpen)
{
SPLidar.Write(CmdBuf, 0, 6);
}
}
private void button3_Click(object sender, EventArgs e)
{
byte[] CmdBuf = { 0xa5, 0xf0, 0x02, 0x58, 0x02, 0x0d };
CmdBuf[5] = (0xa5 ^ 0xf0 ^ 0x02);
CmdBuf[3] = (byte)(lidarSpeed & 0xff);
CmdBuf[5] ^= CmdBuf[3];
CmdBuf[4] = (byte)(lidarSpeed >> 8 & 0xff);
CmdBuf[5] ^= CmdBuf[4];
if (SPLidar.IsOpen)
{
SPLidar.Write(CmdBuf, 0, 6);
}
}
