private void ForwardButton_Click(object sender, EventArgs e)
{
short speedDelta = (short)SpeedDeltaNumericUpDown.Value;
short speed = LastCommandedMotorSettings.Speed += speedDelta;
if (speed > MaximumCommandedMotorSettings.Speed)
{
speed = MaximumCommandedMotorSettings.Speed;
}
DSMCUCommand command = new DSMCUCommand
{
Speed = speed,
TurnRate = LastCommandedMotorSettings.TurnRate,
STThetaXY = LastCommandedMotorSettings.STThetaXY,
STThetaZX = LastCommandedMotorSettings.STThetaZX
};
byte[] payloadByteArray = StructByteConverter.StructByteConverter.getByteArray(command);
MRSPSP.SendCommandMessage(command: (byte)MRSMessageType.DSMCUSetMotors, buffer: payloadByteArray);
LastCommandedMotorSettings = command;
// Test conversion back to DSMCUCommand struct:
//DSMCUCommand testCommand = StructByteConverter.StructByteConverter.fromBytes<DSMCUCommand>(payloadByteArray);
}
private void GetMRSTestTextMessageButton_Click(object sender, EventArgs e)
{
// Send a text message to be locally logged / displayed and request the MRS sends a test text message back:
string testMessage = "Test MSG";
byte[] dummy = ASCIIEncoding.ASCII.GetBytes(testMessage);
MRSPSP.SendCommandMessage((byte)MRSMessageType.MRSTextMessage, dummy);
System.Threading.Thread.Sleep(500);
MRSPSP.SendCommandMessage((byte)MRSMessageType.GetTestTextMessage, dummy);
}
private void SerialControlView_Load(object sender, EventArgs e)
{
MRSPSP.SetComPortName(Properties.Settings.Default.LastMRSCOMPort);
MRSPSP.SetConnectedDeviceName("MRS1");
MRSPSP.UpdateParents += UpdateDisplays;
MRSRCPSP.SetComPortName(Properties.Settings.Default.LastMRSRCComPort);
MRSRCPSP.SetConnectedDeviceName("MRS Remote Controller");
Console.WriteLine(MRSPSP.PSPC.ComBufferSize);
Console.WriteLine(MRSPSP.PSPC.EncodedPacketSize);
Console.WriteLine(MRSPSP.PSPC.PacketSize);
Console.WriteLine(MRSPSP.PSPC.PacketPayloadSize);
}
private void StopButton_Click(object sender, EventArgs e)
{
DSMCUCommand command = new DSMCUCommand
{
Speed = 0x0000,
TurnRate = 0x0000,
STThetaXY = LastCommandedMotorSettings.STThetaXY,
STThetaZX = LastCommandedMotorSettings.STThetaZX
};
byte[] payloadByteArray = StructByteConverter.StructByteConverter.getByteArray(command);
MRSPSP.SendCommandMessage(command: (byte)MRSMessageType.DSMCUSetMotors, buffer: payloadByteArray);
LastCommandedMotorSettings = command;
}
private void RightButton_Click(object sender, EventArgs e)
{
// Right turn is negative if x-axis is straight ahead and y-axis is directed to the left of the MRS chassis
short turnRateDelta = (short)TurnRateDeltaNumericUpDown.Value;
short turnRate = LastCommandedMotorSettings.TurnRate -= turnRateDelta;
if (turnRate < MinimumCommandedMotorSettings.TurnRate)
{
turnRate = MinimumCommandedMotorSettings.TurnRate;
}
DSMCUCommand command = LastCommandedMotorSettings;
command.TurnRate = turnRate;
byte[] payloadByteArray = StructByteConverter.StructByteConverter.getByteArray(command);
MRSPSP.SendCommandMessage(command: (byte)MRSMessageType.DSMCUSetMotors, buffer: payloadByteArray);
LastCommandedMotorSettings = command;
}
private void SerialControlView_FormClosing(object sender, FormClosingEventArgs e)
{
Properties.Settings.Default.LastMRSCOMPort = MRSPSP.GetComPortName();
Properties.Settings.Default.LastMRSRCComPort = MRSRCPSP.GetComPortName();
Properties.Settings.Default.Save();
}
private void MRSTestMotorsButton_Click(object sender, EventArgs e)
{
byte[] dummy = { 0x00 };
MRSPSP.SendCommandMessage((byte)MRSMessageType.TestMotors, dummy);
}
private void MRSSYSDiagnosticsButton_Click(object sender, EventArgs e)
{
byte[] dummy = { 0x00 };
MRSPSP.SendCommandMessage((byte)MRSMessageType.RunSystemDiagnostics, dummy);
}
private void GetMRSStatusButton_Click(object sender, EventArgs e)
{
byte[] dummy = { 0x10, 0x11, 0x12, 0x13, 0x14, 0x15, 0x16, 0x17, 0x18, 0x19, 0x1A, 0x1B, 0x1C, 0x1D };
MRSPSP.SendCommandMessage((byte)MRSMessageType.TestPacketTransfer, dummy);
}
// MRS Controls *******************************************************************************************************
private void TestMRSComsButton_Click(object sender, EventArgs e)
{
byte[] dummy = { 0x55 };
MRSPSP.SendCommandMessage((byte)MRSMessageType.ToggleBuiltInLED, dummy);
}