roboforum.ru

var
  Form1: TForm1;

   str: string;
   speed: string;

implementation

{$R *.dfm}

procedure TForm1.ApplicationEvents1ShortCut(var Msg: TWMKey;
  var Handled: Boolean);
  Var
  q: integer;
begin
  if getasynckeystate(vk_up)<0{(getasynckeystate(17)<0) and (getasynckeystate(38)<0)} then begin
      //Machine.TraverseTop(SpeedFreeMov);   вперед
      speed:=Labelededit1.Text;
      str:='DrvLR='+speed+','+speed;
      str := Str + #13#10;
      Form1.ComPort1.WriteStr(str);
      Memo1.Text := Memo1.Text + Str;

    end;
if getasynckeystate(vk_down)<0{(getasynckeystate(17)<0) and (getasynckeystate(40)<0)} then begin
     // Machine.TraverseBottom(SpeedFreeMov); назад
     speed:='-'+Labelededit1.Text;
     str:='DrvLR='+speed+','+speed;
     str := Str + #13#10;
     Form1.ComPort1.WriteStr(str);
     Memo1.Text := Memo1.Text + Str;
    end;
    if getasynckeystate(vk_left)<0{(getasynckeystate(17)<0) and (getasynckeystate(40)<0)} then begin
     // Machine.TraverseBottom(SpeedFreeMov); Лево
    speed:=Labelededit1.Text;
str:='DrvLR=-'+speed+','+speed;
str := Str + #13#10;
Form1.ComPort1.WriteStr(str);
Memo1.Text := Memo1.Text + Str;
    end;
    if getasynckeystate(vk_right)<0{(getasynckeystate(17)<0) and (getasynckeystate(40)<0)} then begin
     // Machine.TraverseBottom(SpeedFreeMov); Право
      speed:=Labelededit1.Text;
str:='DrvLR='+speed+',-'+speed;
str := Str + #13#10;
Form1.ComPort1.WriteStr(str);
Memo1.Text := Memo1.Text + Str;
    end;
    if getasynckeystate(32)<0{(getasynckeystate(17)<0) and (getasynckeystate(40)<0)} then begin
     // Machine.TraverseBottom(SpeedFreeMov); стоп
     str:='DrvLR=0,0';
Str := Str + #13#10;
ComPort1.WriteStr(str);
    Memo1.Text := Memo1.Text + Str +'...'+Inttostr(q);
end;
end;

procedure TForm1.Button10Click(Sender: TObject); //влево
begin
speed:=Labelededit1.Text;
str:='DrvLR=-'+speed+','+speed;
str := Str +#13#10;
Form1.ComPort1.WriteStr(str);
Memo1.Text := Memo1.Text + Str;
Sleep(100);
end;

procedure TForm1.Button1Click(Sender: TObject);
begin
Form1.ComPort1.ShowSetupDialog;
end;

procedure TForm1.Button2Click(Sender: TObject);
begin
if ComPort1.Connected then
    ComPort1.Close
  else
    ComPort1.Open;
end;

procedure TForm1.Button3Click(Sender: TObject);   //версия прошивки
begin
str:='V';
Str := Str + #13#10;
Form1.ComPort1.WriteStr(str);
//Memo1.Lines.Add(str);
//Memo1.Lines.Text:=str;
Memo1.Text := Memo1.Text + Str;
end;

procedure TForm1.Button4Click(Sender: TObject);    // закрыть
begin
ComPort1.Free;
Form1.ComPort1.Close;
end;

procedure TForm1.Button5Click(Sender: TObject);
begin
Memo1.Lines.Clear;
end;

procedure TForm1.Button6Click(Sender: TObject);    // stop
begin
str:='DrvLR=0,0';
Str := Str +#13#10;
ComPort1.WriteStr(str);
    Memo1.Text := Memo1.Text + Str;
    Sleep(100);
end;

procedure TForm1.Button7Click(Sender: TObject);    //вперед
begin
speed:=Labelededit1.Text;
str:='DrvLR='+speed+','+speed;
str := Str +#13#10;
Form1.ComPort1.WriteStr(str);
Memo1.Text := Memo1.Text + Str;
Sleep(100);
end;

procedure TForm1.Button8Click(Sender: TObject);       //назад
begin
speed:='-'+Labelededit1.Text;
str:='DrvLR='+speed+','+speed;
str := Str +#13#10;
Form1.ComPort1.WriteStr(str);
Memo1.Text := Memo1.Text + Str;
Sleep(100);
end;

procedure TForm1.Button9Click(Sender: TObject);    //вправо
begin
  speed:=Labelededit1.Text;
str:='DrvLR='+speed+',-'+speed;
str := Str +#13#10;
Form1.ComPort1.WriteStr(str);
Memo1.Text := Memo1.Text + Str;
Sleep(100);
end;

procedure TForm1.ComPort1RxChar(Sender: TObject; Count: Integer);
begin
  ComPort1.ReadStr(Str, count);
  Memo1.Lines.Add(str);
  //PurgeComm(ComPort1.Handle, PURGE_TXABORT or PURGE_RXABORT or PURGE_TXCLEAR or PURGE_RXCLEAR);
end;

procedure TForm1.FormClose(Sender: TObject; var Action: TCloseAction);  // закрыть
begin
Form1.ComPort1.Close;
end;

end.