Codigo para la interfaz de nuestro brazo

La preparación del código estuvo a cargo de Humberto Ham, la interfaz permite manejar 5 motores DC, conectar al puerto de el microcontrolador para iniciar la comunicación, e interrumpir el proceso o reactivarlo, a continuación el código completo:

using System;

using System.Collections.Generic;

using System.ComponentModel;

using System.Data;

using System.Drawing;

using System.Linq;

using System.Text;

using System.Threading.Tasks;

using System.Windows.Forms;

using System.IO.Ports;

namespace WindowsFormsApp2

{

    public partial class Form1 : Form

    {

        string dataOut;

        string dataIn;

        public Form1()

        {

            InitializeComponent();

        }

        private void Form1_Load(object sender, EventArgs e)

        {

            String[] ports = SerialPort.GetPortNames();

            comboBox1.Items.AddRange(ports);

        }

        private void button1_Click(object sender, EventArgs e)

        {

            try {

                serialPort1.PortName = comboBox1.SelectedItem.ToString();

                serialPort1.Open();

                MessageBox.Show("Conectado");

            }

            catch (Exception err) {

                MessageBox.Show(err.Message, "Error", MessageBoxButtons.OK, MessageBoxIcon.Error);

            }

        }

        private void comboBox1_SelectedIndexChanged(object sender, EventArgs e)

        {

        }

        private void button3_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen) {

                dataOut = textBox1.Text;

                serialPort1.WriteLine(dataOut);

            }

        }

        private void button2_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen) {

                serialPort1.Close();

            }

        }

        private void textBox2_TextChanged(object sender, EventArgs e)

        {

        }

        private void serialPort1_DataReceived(object sender, SerialDataReceivedEventArgs e)

        {

            dataIn = serialPort1.ReadExisting();

            this.Invoke(new EventHandler(ShowData));

        }

        private void ShowData(object sender, EventArgs e)

        {

            textBox2.Text = dataIn;

        }

        private void button4_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("a");

            }

        }

        private void button5_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("b");

            }

        }

        private void Button12_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("j");

            }

        }

        private void Button8_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("i");

            }

        }

        private void Label4_Click(object sender, EventArgs e)

        {

        }

        private void Button10_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("d");

            }

        }

        private void Button17_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("h");

            }

        }

        private void Button6_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("c");

            }

    }

        private void Button16_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("e");

            }

        }

        private void Button7_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("f");

            }

        }

        private void Button11_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("g");

            }

        }

        private void Button18_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("k");

            }

        }

        private void Button9_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("l");

            }

        }

        private void Button13_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("m");

            }

        }

        private void Button19_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("n");

            }

        }

        private void Button14_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("o");

            }

        }

        private void Button15_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("p");

            }

        }

        private void Button20_Click(object sender, EventArgs e)

        {

            if (serialPort1.IsOpen)

            {

                serialPort1.WriteLine("q");

            }

        }

    }

}