static public byte[] headerEncapsulation(controlHeader header, string text)
{
byte[] temp = new byte[5];
switch (header)
{
case controlHeader.Setpoint:
temp[0] = (byte)controlHeader.Setpoint;
break;
default:
break;
}
byte[] tempBuffer = stringtoUART(text);
temp[1] = tempBuffer[0];
temp[2] = tempBuffer[1];
temp[3] = tempBuffer[2];
temp[4] = tempBuffer[3];
return(temp);
}
static public byte[] headerEncapsulation(controlHeader header, string text)
{
byte[] temp = new byte[5];
switch (header)
{
case controlHeader.Realtime:
temp[0] = (byte)controlHeader.Realtime;
break;
case controlHeader.Setpoint:
temp[0] = (byte)controlHeader.Setpoint;
break;
case controlHeader.Run:
temp[0] = (byte)controlHeader.Run;
break;
case controlHeader.Stop:
temp[0] = (byte)controlHeader.Stop;
break;
case controlHeader.Velocity:
temp[0] = (byte)controlHeader.Velocity;
break;
case controlHeader.Position:
temp[0] = (byte)controlHeader.Position;
break;
case controlHeader.Kp:
temp[0] = (byte)controlHeader.Kp;
break;
case controlHeader.Ki:
temp[0] = (byte)controlHeader.Ki;
break;
case controlHeader.Kd:
temp[0] = (byte)controlHeader.Kd;
break;
case controlHeader.Request:
temp[0] = (byte)controlHeader.Request;
break;
case controlHeader.Calib:
temp[0] = (byte)controlHeader.Calib;
break;
case controlHeader.Parak0:
temp[0] = (byte)controlHeader.Parak0;
break;
case controlHeader.Parak1:
temp[0] = (byte)controlHeader.Parak1;
break;
case controlHeader.Parak2:
temp[0] = (byte)controlHeader.Parak2;
break;
case controlHeader.Parak3:
temp[0] = (byte)controlHeader.Parak3;
break;
default:
break;
}
byte[] tempBuffer = stringtoUART(text);
temp[1] = tempBuffer[3];
temp[2] = tempBuffer[2];
temp[3] = tempBuffer[1];
temp[4] = tempBuffer[0];
return(temp);
}
