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); } }