C# 怎么通过串口PELCO-D协议控制云台

下面是一个简单的例子，演示如何使用C#通过串口PELCO-D协议控制常见的云台功能：

using System.IO.Ports;

namespace PelcoDControl
{
    public class PelcoDController
    {
        private SerialPort _serialPort;

        public PelcoDController(string portName, int baudRate)
        {
            _serialPort = new SerialPort(portName, baudRate);
            _serialPort.Open();
        }

        public void SetPanTilt(int panSpeed, int tiltSpeed)
        {
            byte[] command = new byte[8];
            command[0] = 0xFF;
            command[1] = 0x01;
            command[2] = 0x00;
            command[3] = 0x00;
            command[4] = (byte)(panSpeed & 0xFF);
            command[5] = (byte)(tiltSpeed & 0xFF);
            command[6] = (byte)((panSpeed >> 8) & 0x03) | ((tiltSpeed >> 6) & 0x0C);
            command[7] = 0x00;
            SendCommand(command);
        }

        public void SetZoom(int zoomSpeed)
        {
            byte[] command = new byte[8];
            command[0] = 0xFF;
            command[1] = 0x01;
            command[2] = 0x00;
            command[3] = 0x00;
            command[4] = 0x00;
            command[5] = 0x00;
            command[6] = (byte)(zoomSpeed & 0x3F);
            command[7] = 0x00;
            SendCommand(command);
        }

        private void SendCommand(byte[] command)
        {
            _serialPort.Write(command, 0, command.Length);
        }
    }
}

其中，`SetPanTilt`方法用于控制云台的水平和垂直转动，`SetZoom`方法用于控制云台的缩放功能。具体的PELCO-D协议控制命令可以参考PELCO-D协议文档，根据不同的云台型号和功能进行调整。