public static uint ReadIO(
[InputPin(PropertyMode = PropertyMode.Default, DefaultValue = DEFAULT_MOTOMAN_SDA10F_BASE_NAME)] string robotName,
[InputPin(PropertyMode = PropertyMode.Default)] int address)
{
using (var motomanIo = new Motoman.CommIO(rosClient.GlobalNodeHandle, robotName))
{
return(motomanIo.Read(address));
}
}
public static void WriteIO(
[InputPin(PropertyMode = PropertyMode.Default, DefaultValue = DEFAULT_MOTOMAN_SDA10F_BASE_NAME)] string robotName,
[InputPin(PropertyMode = PropertyMode.Default)] int address,
[InputPin(PropertyMode = PropertyMode.Default)] uint value)
{
using (var motomanIo = new Motoman.CommIO(rosClient.GlobalNodeHandle, robotName))
{
motomanIo.Write(address, value);
}
}