KangarooChannel ClassKangaroo Library for .NET
Lets you send commands to and get position, speed, etc. for a specific channel of the Kangaroo.
Inheritance Hierarchy


Namespace: DimensionEngineering.Kangaroo
Assembly: DimensionEngineering.Kangaroo (in DimensionEngineering.Kangaroo.dll) Version: (

public class KangarooChannel

The KangarooChannel type exposes the following members.


Public methodKangarooChannel
Constructs a KangarooChannel object.

Public methodBaudRate
Sets the baud rate. This affects all channels of the controller that receives the command.
Public methodGet
Issues a 'get' request.
Public methodGetMax
Gets the maximum position. This corresponds to DEScribe's Nominal Travel maximum.
Public methodGetMin
Gets the minimum position. This corresponds to DEScribe's Nominal Travel minimum.
Public methodGetP
Gets the absolute position.
Public methodGetPI
Gets the incremental position (relative to the position when the last command was issued).
Public methodGetS
Gets the absolute speed (positive or negative depending on direction).
Public methodGetSI
Gets the incremental speed (relative to the speed when the last command was issued).
Public methodHome
Homes the channel.
Public methodP
Moves to the specified absolute position. This command is most useful for absolutely-positioned systems.
Public methodPI
Makes an incremental move. This command is useful any time you want to make a motion relative to where you are right now. Rovers are a case where this is almost always what you want.
Public methodPowerDown
Powers down the channel.
Public methodPowerDownAll
Powers down all channels of the controller that receives the command.
Public methodS
Moves at a particular speed.
Public methodSerialTimeout
Sets the serial timeout. This affects all channels of the controller that receives the command.
Public methodSI
Moves at a particular speed, incremental from the current speed. This is useful for cruise control: a negative increment will slow down, a positive increment will speed up, and a zero increment will hold the current speed.
Public methodStart
Starts the channel. Also, the Kangaroo LED will shine brightly for a third of a second.
Public methodSystemCommand
Sends a system command. These are mostly for advanced use cases.
Public methodUnits
Sets custom units for the channel. This command may be called after you start the channel but before you home it. If you do not set custom units, the units you have set up in DEScribe will be used. If you haven't set any, machine units will be used.

Public propertyAddress
Gets the Packet Serial address of the controller.
Public propertyCommandRetryInterval
Gets or sets the command retry interval, in milliseconds.
Public propertyCommandTimeout
Gets or sets the command timeout, in milliseconds.
Public propertyName
Gets the channel name.
Public propertyStreaming
Enables or disables streaming. When streaming is disabled (the default), commands are delivered reliably: a request is sent to the Kangaroo after every command to make sure the command was received. When streaming is enabled, commands are delivered unreliably: no effort is made to verify that they are received. If you are constantly sending position or speed commands, you may not care if an intermediate one is lost. Enabling streaming can more than double your command rate, at the cost of reduced reliability. If you only have a transmit line and no way to receive data back from the Kangaroo, you should enable streaming. Wait(Int32) cannot be meaningfully called for a command that was streamed.
See Also