using System;
using System.Collections.Generic;
using System.Linq;
using System.Text;
using System.Threading.Tasks;

namespace Mushiny.Model
{
    /// <summary>
    /// 参数回读命令包：需要读回来机器人的控制参数配置信息的时候发送一次，正常来说RCS初始化时会发送一次
    /// </summary>
    internal class ReadParamPkg:PkgData
    {
        public ReadParamPkg() : base() 
        {
            FrameHead = 0xbb;
            CmdWord = 0x12;
        }
        public ushort MatchWord { get; set; }
        public byte ParamGroup { get; set; }

        public override byte[] ToBytes()
        {
            List<byte> bytes = new List<byte>(base.ToBytes())
            {
            };
            bytes.AddRange(Common.ConvertToBytes(MatchWord));
            bytes.Add(ParamGroup);
            calSendCrc(bytes);
            bytes.Add(CRC16Low);
            bytes.Add(CRC16Upper);
            return bytes.ToArray();
        }
    }
}