NXT Visual Studioban

using System;
using System.Collections.Generic;
using System.Linq;
using System.IO;
using System.IO.Ports;
using System.Text;
using System.Threading;

namespace robotBluetooth
{
    class Program
    {
        static SerialPort se = new SerialPort("COM3");
        static void Main(string[] args)
        {
            se.Open();
            MoveForward(3000);
            Stop();
            //TurnRight(700);
            //Stop();
            //MoveForward(2000);
            //Stop();
            //TurnLeft(1000);
            //Stop();
            //MoveForward(2400);
            //Stop();
            //se.Close();
            Console.ReadLine();
        }

        private static void MoveForward(int duration)
        {
            byte[] MessageLength = { 0x00, 0x00 };
            byte[] NxtMessage = { 0x00, 0x04, 0x01, 0x64, 0x01, 0x02, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00 };
            MessageLength[0] = (byte)NxtMessage.Length;
            se.Write(MessageLength, 0, MessageLength.Length);
            se.Write(NxtMessage, 0, NxtMessage.Length);
            Byte[] MessageLengt = { 0x00, 0x00 };
            byte[] NxtMessag = { 0x00, 0x04, 0x02, 0x64, 0x01, 0x02, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00 };
            MessageLengt[0] = (byte)NxtMessag.Length;
            se.Write(MessageLengt, 0, MessageLengt.Length);
            se.Write(NxtMessag, 0, NxtMessag.Length);

            Thread.Sleep(duration);
        }

        private static void Stop()
        {
            Byte[] uzenethossz = { 0x00, 0x00 };
            byte[] uzenet = { 0x00, 0x04, 0x01, 0x00, 0x05, 0x02, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00 };
            uzenethossz[0] = (byte)uzenet.Length;
            se.Write(uzenethossz, 0, uzenethossz.Length);
            se.Write(uzenet, 0, uzenet.Length);
            Byte[] uzenethoss = { 0x00, 0x00 };
            byte[] uzene = { 0x00, 0x04, 0x02, 0x00, 0x05, 0x02, 0x00, 0x40, 0x00, 0x00, 0x00, 0x00 };
            uzenethoss[0] = (byte)uzenet.Length;
            se.Write(uzenethoss, 0, uzenethoss.Length);
            se.Write(uzene, 0, uzene.Length);
        }

        private static void MoveBackward(int duration)
        {
            Byte[] MessageLength = { 0x00, 0x00 };
            byte[] NxtMessage = { 0x00, 0x04, 0x01, 0x9C, 0x01, 0x02, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00 };
            MessageLength[0] = (byte)NxtMessage.Length;
            se.Write(MessageLength, 0, MessageLength.Length);
            se.Write(NxtMessage, 0, NxtMessage.Length);
            Byte[] MessageLengt = { 0x00, 0x00 };
            byte[] NxtMessag = { 0x00, 0x04, 0x02, 0x9C, 0x01, 0x02, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00 };
            MessageLengt[0] = (byte)NxtMessag.Length;
            se.Write(MessageLengt, 0, MessageLengt.Length);
            se.Write(NxtMessag, 0, NxtMessag.Length);

            Thread.Sleep(duration);
        }

        private static void TurnLeft(int duration)
        {
            Byte[] MessageLength = { 0x00, 0x00 };
            byte[] NxtMessage = { 0x00, 0x04, 0x01, 0x4B, 0x01, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00 };
            MessageLength[0] = (byte)NxtMessage.Length;
            string szoveg = "";
            for (int i = 0; i < NxtMessage.Length; i++)
                szoveg += NxtMessage[i].ToString("X2") + " ";
            Console.WriteLine(szoveg);
            se.Write(MessageLength, 0, MessageLength.Length);
            se.Write(NxtMessage, 0, NxtMessage.Length);
            string szoveg2 = "";
            int length = se.ReadByte() + 256 * se.ReadByte();
            for (int i = 0; i < length; i++)
                szoveg2 += se.ReadByte().ToString("X2") + " ";
            //Console.WriteLine(szoveg2);
            NxtMessage[2] = (byte)0x02;
            NxtMessage[3] = (byte)0xB5;
            MessageLength[0] = (byte)NxtMessage.Length;
            se.Write(MessageLength, 0, MessageLength.Length);
            se.Write(NxtMessage, 0, NxtMessage.Length);
            szoveg2 = "";
            length = se.ReadByte() + 256 * se.ReadByte();
            for (int i = 0; i < length; i++)
                szoveg2 += se.ReadByte().ToString("X2") + " ";

            Thread.Sleep(duration);
        }

        private static void TurnRight(int duration)
        {
            Byte[] MessageLength = { 0x00, 0x00 };
            byte[] NxtMessage = { 0x00, 0x04, 0x01, 0xB5, 0x01, 0x00, 0x00, 0x20, 0x00, 0x00, 0x00, 0x00 };
            MessageLength[0] = (byte)NxtMessage.Length;
            string szoveg = "";
            for (int i = 0; i < NxtMessage.Length; i++)
                szoveg += NxtMessage[i].ToString("X2") + " ";
            Console.WriteLine(szoveg);
            se.Write(MessageLength, 0, MessageLength.Length);
            se.Write(NxtMessage, 0, NxtMessage.Length);
            string szoveg2 = "";
            int length = se.ReadByte() + 256 * se.ReadByte();
            for (int i = 0; i < length; i++)
                szoveg2 += se.ReadByte().ToString("X2") + " ";
            //Console.WriteLine(szoveg2);
            NxtMessage[2] = (byte)0x02;
            NxtMessage[3] = (byte)0x4B;
            MessageLength[0] = (byte)NxtMessage.Length;
            se.Write(MessageLength, 0, MessageLength.Length);
            se.Write(NxtMessage, 0, NxtMessage.Length);
            szoveg2 = "";
            length = se.ReadByte() + 256 * se.ReadByte();
            for (int i = 0; i < length; i++)
                szoveg2 += se.ReadByte().ToString("X2") + " ";

            Thread.Sleep(duration);
        }
    }
}