Use Cases

SendOneAngle()

        using System;
    using System.Threading;

    namespace Mycobot.csharp
    {
        class Test
        {
            static void Main(string[] args)
            {
                MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                mc.Open();
                Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                mc.SendOneAngle(1,20,50); //把一关节移动20，速度50
                 Thread.Sleep(5000);
                mc.Close();
            }
        }
    }

GetAngles()

    using System;
    using System.Threading;

    namespace Mycobot.csharp
    {
        class Test
        {
            static void Main(string[] args)
            {
                MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                mc.Open();
                Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                var recv = mc.GetAngles();//获取角度信息
                foreach (var v in recv)
                 {
                    Console.WriteLine(v);
                 }
                mc.Close();
            }
        }
    }

SendAngles()

    using System;
    using System.Threading;

    namespace Mycobot.csharp
    {
        class Test
        {
            static void Main(string[] args)
            {
                MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                mc.Open();
                Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                mc.SendOneAngle(1,0, 70); 
                Thread.Sleep(100);
                mc.Close();
            }
        }
    }

GetCoords()

    using System;
    using System.Threading;

    namespace Mycobot.csharp
    {
        class Test
        {
            static void Main(string[] args)
            {
                MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                mc.Open();
                Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                var recv = mc.GetCoords();
                foreach (var v in recv)
                {
                Console.WriteLine(v);
               }
                Thread.Sleep(100);
                mc.Close();
            }
        }
    }

SendCoords()

    using System;
    using System.Threading;

    namespace Mycobot.csharp
    {
        class Test
        {
            static void Main(string[] args)
            {
                MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                mc.Open();
                Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                int[] coords = new[] {160, 160, 160, 0, 0, 0}; //参数1：坐标，2：速度，3模式
                mc.SendCoords(coords, 90, 1);
                Thread.Sleep(100);
                mc.Close();
            }
        }
    }

SendOneCoord()

    using System;
    using System.Threading;

    namespace Mycobot.csharp
    {
        class Test
        {
            static void Main(string[] args)
            {
                MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                mc.Open();
                Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                mc.SendOneAngle(1,0, 70);
                Thread.Sleep(100);
                mc.Close();
            }
        }
    }

SetDigitalOut()

    using System;
    using System.Threading;

    namespace Mycobot.csharp
    {
        class Test
        {
            static void Main(string[] args)
            {
                MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                mc.Open();
                Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                mc.SetDigitalOut(23, 0);
                Thread.Sleep(100);
                mc.SetDigitalOut(33, 0);
                Thread.Sleep(100);
                mc.Close();
            }
        }
    }

GetDigitalIn()

    using System;
    using System.Threading;

    namespace Mycobot.csharp
    {
        class Test
        {
            static void Main(string[] args)
            {
                MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                mc.Open();
                Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                int num = GetDigitalIn(23);
                mc.Close();
            }
        }
    }

setGripperValue()

    using System;
    using System.Threading;

    namespace Mycobot.csharp
    {
        class Test
        {
            static void Main(string[] args)
            {
                MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                mc.Open();
                Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                mc.SetGripperMode(0);//透传
                Thread.Sleep(1000);
                mc.setGripperValue(0,10)
                mc.Close();
            }
        }
    }

getGripperValue()

    using System;
    using System.Threading;

    namespace Mycobot.csharp
    {
        class Test
        {
            static void Main(string[] args)
            {
                MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                mc.Open();
                Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                mc.SetGripperMode(0);//透传
                Thread.Sleep(1000);
                int num = mc.getGripperValue();
                mc.Close();
            }
        }
    }

SetBasicOut()

        using System;
        using System.Threading;

        namespace Mycobot.csharp
        {
            class Test
            {
                static void Main(string[] args)
                {
                    MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                    mc.Open();
                    Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                    mc.SetBasicOut(2, 1);
                    Thread.Sleep(100);
                    mc.SetBasicOut(5, 1);
                    Thread.Sleep(100);
                    mc.SetBasicOut(26, 1);
                    Thread.Sleep(100);
                    mc.Close();
                }
            }
        }

GetBasicIn()

        using System;
        using System.Threading;

        namespace Mycobot.csharp
        {
            class Test
            {
                static void Main(string[] args)
                {
                    MyCobot mc = new MyCobot("COM57");//树莓派机械臂串口名称：/dev/ttyAMA0
                    mc.Open();
                    Thread.Sleep(5000);//windows打开串口后，需要等待5s，Windows打开串口底部basic会重启
                    int num = mc.GetBasicIn(35);
                    mc.Close();
                }
            }
        }

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