private void stopScan()
{
byte[] CmdBuf = { 0xa5, 0x25 };
if (SPLidar.IsOpen)
{
SPLidar.Write(CmdBuf, 0, 2);
}
}
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 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);
}
}