C# Programming for control Humanoid Kondo Robot

1.    Creating new window form application by Microsoft visual studio 2010 ( C#)

2.    Add Rcb4.dll and Extensions.dll  (down file here RCBdll)

And using rcb4 and extensions.Collections in main program (see Fig1)

3. Create the interface for the program

.

(Test with control 1 motor servo)

Chose ICS No, Frame, Position, and click Command -> Send.

4.    Wite the Command function

-          When Command button is pressed, the command for kondo is generated  

-          And shown in the Text box Cmd

-          Send button to send the command to rcb4

5.    Setup a serialPort1

BaudRate: 1250000

Parity: Even

Insert the SerialPort1 from the Toolbox, and depend on the Com number port ( when install the KondoSerial ) ( down file here KO Driver 2013 )

6. Simple code for control one motor. (download file C#)

public partial class Form1 : Form

{

    //Manage the number of data receiving

    int recv_count = 0;

    public Form1()

    {

        InitializeComponent();

      

    }

    // opem a COM port

    private void Form1_Load(object sender, EventArgs e)

    {

        if (!serialPort1.IsOpen)

        {

               serialPort1.Open();           

        }

    }

   

    // close the serial port when close the form

    private void Form1_FormClosing(object sender, FormClosingEventArgs e)

    {

        if (serialPort1.IsOpen)

        {

            serialPort1.Close(); // Close the serial port

        }

    }

    #region single servo

    // when the command button is pressed, the command is generated and showning

    // in the cmd textbox.

    private void ssbtnCommand_Click(object sender, EventArgs e)

    {

        ByteList cmd = new ByteList(); // creat the new cmd

        cmd.Bytes = Command.RunSingleServo((byte)cmdssICSMotor.SelectedIndex, (byte)nmssFrame.Value, (int)nmssPosition.Value);

        // shown the generation command in the cmd textbox

        txtCmd.Text = cmd.CommaText;

        // required when you actually send the command, to keep the number of received data

        //recv_count

        recv_count = 4;

    }

    #endregion single servo

    #region SendCommand

    // send the geniration command to rcb4

    private void btnSend_Click(object sender, EventArgs e)

    {

        // check the Com port

        if (!serialPort1.IsOpen)

        {

            MessageBox.Show("Com port is not connected"); // Return if Comport is not connected

            return;

        }

        // check the cmd box

        if (txtCmd.Text == string.Empty)

        {

            MessageBox.Show("Command has not been generated"); // Return if cmd box is empty

            return;

        }

       //send generation command

        ByteList cmd = new ByteList();

        cmd.CommaText = txtCmd.Text; // get text from the Cmd box

        // received Array is reply

        byte[] recv = new byte[recv_count];

        bool result = Command.Synchronize(serialPort1, cmd.Bytes, ref recv);

        // check the result after click send button

        if (result == true)

        {

            txtError.BackColor = SystemColors.Window;

        }

        else

        {

            txtError.BackColor = Color.Red;

        }

        // get the reply ByteList

        cmd.Bytes = recv;

        // Write the answer in the error textBox

        txtError.Text = cmd.CommaText;

    }

    #endregion SendCommand

}