Use Case

This case will first get the current angles of all joints, then return joint 1 to zero, and finally get the values ​​of two input pins on basic.
The program.cs in the project is a complete use case program, which can be modified as needed:

using System;
using System.Threading;

namespace Mycobot.csharp
{
class Test
{
static void Main(string[] args)
{
MyCobot mc = new MyCobot("COM57"); //Raspberry Pi robot serial port name: /dev/ttyAMA0
mc.Open();
Thread.Sleep(5000); //After Windows opens the serial port, you need to wait for 5 seconds. The basic at the bottom of Windows will restart when it opens the serial port
// int[] angles = new[] {100, 100, 100, 100, 100, 100};
// mc.SendAngles(angles, 50);
var recv = mc.GetAngles();
foreach (var v in recv)
{
Console.WriteLine(v);
}

// int[] coords = new[] {160, 160, 160, 0, 0, 0}; 
    // mc.SendCoords(coords, 90, 1); 
    // Thread.Sleep(5000); 
    // var recv = mc.GetCoords();
    // foreach (var v in recv) 
    // { 
    // Console.WriteLine(v); 
    // } 
   mc.SendOneAngle(1,0, 70); 00);
    /*var angle = new int[6]; angle = mc.GetAngles(); 
    foreach (var v in angle) Console.WriteLine(v); 
    // byte[] setColor = {0xfe, 0xfe, 0x05, 0x6a, 0xff, 0x00, 0x00, 0xfa};*/
    //set basic output io
    /*mc.SetBasicOut(2, 1); 
    Thread.Sleep(100); 
    mc.SetBasicOut(5, 1); 
    Thread.Sleep(100); 
    mc.SetBasicOut(26, 1); 
    Thread.Sleep(100);*/
    //get basic input io Console.WriteLine(mc.GetBasicIn(35));  
    Thread.Sleep (100);          Console.WriteLine(mc.GetBasicIn(36)); Thread.Sleep(100); 
    //set atom output io 
    /*mc.SetDigitalOut(23, 0);
    Thread.Sleep(100);
    mc.SetDigitalOut(33, 0);
    Thread.Sleep(100);*/
    //get m5 input io
    /*Console.WriteLine(mc.GetDigitalIn(19));
    Thread.Sleep(100);
    Console.WriteLine(mc.GetDigitalIn(22)); 
    Thread.Sleep(100);*/
    //set gripper open or close 0--close 100-open max 0-100 
    /*mc.setGripperValue(0, 10);
    (3000); 
    mc.setGripperValue(50, 100);
    Thread.Sleep(3000);*/
    //get gripper state 0--close 1--open /*Console.WriteLine(mc.getGripperValue());*/ mc.Close(); 
   } 
 } 
}