15.5-case.md

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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