using System;
using System.Threading;
using AG.Comm;

namespace PoloruTest
{
	class Class1
	{
		// ƒGƒ“ƒgƒŠ ƒ|ƒCƒ“ƒg
		[STAThread]
		static void Main(string[] args)
		{
			byte port = 1;
			AGComm myComm = new AGComm();
			myComm.BaudRate = 9600;
			byte[] sndData;
			byte speed; 
			if (myComm.OpenPort(port))
			{
				Console.WriteLine("{0}”ΤƒI[ƒvƒ“" , port);
				
				//
				// ’΄¬Œ^DCƒ‚[ƒ^ƒRƒ“ƒgƒ[ƒ‰ƒRƒ}ƒ“ƒh
				// ‚O”Ԑ³“]@[0x80,0x00,0x05,speed]1
				// ‚O”Τ‹t“]@[0x80,0x00,0x04,speed]0
				// ‚P”Ԑ³“]@[0x80,0x00,0x07,speed]3
				// ‚P”Τ‹t“]@[0x80,0x00,0x06,speed]
				// ¦’βŽ~‚̏ꍇ‚Νspeed=0
				// ¦speed ‚Ν0x00-0x7F(10i”‚Ε0`127)
				//
	
				// ƒ_ƒ~[ƒf[ƒ^‘—M
				sndData = new byte[] {0x80,0x00,0x05,0x00};
				MoveMotor(myComm,"ƒVƒ“ƒNƒƒf[ƒ^",sndData);

				// ‰Α‘¬
				for (byte i = 0; i < 100; i++)
				{
					sndData = new byte[] {0x80,0x00,0x05,i};
					MoveMotor(myComm,"‚O”Ԑ³“]",sndData);
					sndData = new byte[] {0x80,0x00,0x07,i};
					MoveMotor(myComm,"‚P”Ԑ³“]",sndData);
				}

				// ’βŽ~
				speed = 0;
				sndData = new byte[] {0x80,0x00,0x05,speed};
				MoveMotor(myComm,"‚O”Τ’βŽ~",sndData);
				sndData = new byte[] {0x80,0x00,0x07,speed};
				MoveMotor(myComm,"‚P”Τ’βŽ~",sndData);

				// ƒoƒbƒN
				speed = 40;
				sndData = new byte[] {0x80,0x00,0x04,speed};
				MoveMotor(myComm,"‚O”Τ‹t“]",sndData);
				sndData = new byte[] {0x80,0x00,0x06,speed};
				MoveMotor(myComm,"‚P”Τ‹t“]",sndData);
                Thread.Sleep(1500);

				// ’΄M’nω‰ρ
				sndData = new byte[] {0x80,0x00,0x05,speed};
				MoveMotor(myComm,"‚O”Ԑ³“]",sndData);
				sndData = new byte[] {0x80,0x00,0x06,speed};
				MoveMotor(myComm,"‚P”Τ‹t“]",sndData);
				Thread.Sleep(800);

				// M’nω‰ρ
				sndData = new byte[] {0x80,0x00,0x05,0x00};
				MoveMotor(myComm,"‚O”Τ’βŽ~",sndData);
				sndData = new byte[] {0x80,0x00,0x07,speed};
				MoveMotor(myComm,"‚P”Ԑ³“]",sndData);
				Thread.Sleep(2000);

				// ’βŽ~
				speed = 0;
				sndData = new byte[] {0x80,0x00,0x05,speed};
				MoveMotor(myComm,"‚O”Τ’βŽ~",sndData);
				sndData = new byte[] {0x80,0x00,0x07,speed};
				MoveMotor(myComm,"‚P”Τ’βŽ~",sndData);

				

				Console.WriteLine("{0}”ΤƒNƒ[ƒY", port);
				myComm.ClosePort();
			}
			else
				Console.WriteLine("{0}”ΤƒI[ƒvƒ“‚Ε‚«‚Θ‚’B", port);
		}

		// ƒf[ƒ^‘—Mƒƒ\ƒbƒh
		static void MoveMotor(AGComm mCom, string s,byte[] data)
		{
			if(mCom.ClearWriteBuffer())
				Console.WriteLine("‘—MΚή―Μ§ƒNƒŠƒA¬Œχ");
			else
				Console.WriteLine("‘—MΚή―Μ§ƒNƒŠƒAŽΈ”s");
			if (mCom.SendData(data))
				Console.WriteLine(s + ':' + "‘—M¬Œχ");
			else
				Console.WriteLine(s + ':' + "‘—MŽΈ”s");
		}
	}
}