//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#endregion Sending
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
#region static functions
//%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%%
public static Byte[] CREATE_cmdFromInner(Byte[] byCmdin, Byte id)
{
// Instruction Packet = from pc to servo
// OXFF 0XFF ID LENGTH INSTRUCTION PARAMETER1 …PARAMETER N CHECK SUM
// inner contains only these bytes:
// INSTRUCTION, PARAMETER_1, ..., PARAMETER_N
// this function adds first two startBytes [0xFF,0xFF], its id Byte, length Byte and Checksum Byte
// make it into ArrayList
Byte[] cmd = new Byte[5 + byCmdin.Length];
//ArrayList a_cmd = new ArrayList();
//a_cmd.Add({0xFF, 0xFF})
//{ 0xFF, 0xFF, id, len, inner, 0x00 };
//{ 0 , 1 , 2 , 3 , 4...., last };
cmd[2] = id;
int q = 4;
foreach (Byte by in byCmdin)
{
cmd[q] = by;
q++;
}
cmd[3] = (Byte)(byCmdin.Length + 1); // = paramN+Instruction + 1 = paramN + 2 = len
cmd[q] = C_Motor.GET_checkSum(cmd);
cmd[0] = cmd[1] = 0xFF;
return(cmd);
}
public MainWindow()
{
mot1 = new C_Motor(1);
InitializeComponent();
INIT_logger();
INIT_spi();
}
public C_cmdin(string _strHex, string _del, string _cmdStr)
{
//num = _num;
byCmdin = C_Motor.strHex2byteArray(_strHex, _del);
cmdStr = _cmdStr;
}
public C_cmdin(string _strHex_concatenated, string _cmdStr)
{
//num = _num;
byCmdin = C_Motor.strHex2byteArray(_strHex_concatenated);
cmdStr = _cmdStr;
}
private void SEND_cmdInner(Byte[] inner, Byte id)
{
SEND_cmd(C_Motor.CREATE_cmdFromInner(inner, id));
}