private void button4_Click(object sender, EventArgs e)
{
Communication.SetLinePosPacket sendFrame = new Communication.SetLinePosPacket();
sendFrame.Header = new byte[2] {
0xAA, 0xFF
};
sendFrame.FunctionCode = 0xAD;
sendFrame.AGVID = 0x01;
sendFrame.Kp = Convert.ToSingle("0.5");
sendFrame.Ki = Convert.ToSingle("0.0005");
sendFrame.Kd = Convert.ToSingle("0.05");
sendFrame.CheckSum = new byte[2];
// sendFrame.unNecessary = 0;
// calculate check sum
//CRC16_Calculator(sendFrame.ToArrayCRC(), sendFrame.CheckSum);
//sendFrame.CheckSum = crc;
sendFrame.EndOfFrame = new byte[2] {
0x0A, 0x0D
};
if (!Communication.SerialPort.IsOpen)
{
return;
}
try { Communication.SerialPort.Write(sendFrame.ToArray(), 0, sendFrame.ToArray().Length); }
catch { };
}
public static void sendLineFrame()
{
Communication.SetLinePosPacket sendFrame = new Communication.SetLinePosPacket();
sendFrame.Header = new byte[2] {
0xAA, 0xFF
};
sendFrame.FunctionCode = 0xAD;
sendFrame.AGVID = 0x01;
sendFrame.Kp = Convert.ToSingle("0.5");
sendFrame.Ki = Convert.ToSingle("0.0005");
sendFrame.Kd = Convert.ToSingle("0.05");
sendFrame.CheckSum = new byte[2];
// calculate check sum
CRC16_Calculator(sendFrame.ToArrayCRC(), sendFrame.CheckSum);
//sendFrame.CheckSum = crc;
sendFrame.EndOfFrame = new byte[2] {
0x0A, 0x0D
};
if (!Communication.SerialPort.IsOpen)
{
return;
}
try { Communication.SerialPort.Write(sendFrame.ToArray(), 0, sendFrame.ToArray().Length); }
catch { };
if (timerToSendLineAgain.Enabled == false)
{
timerToSendLineAgain.Start();
}
}
