private void HandleMonitor3(BinaryReader br, double ts) { RMPMonitor3Msg msg = new RMPMonitor3Msg(br); if (isBackwards) { status.leftWheelSpeed = -msg.rightWheelVel / 401.0; status.rightWheelSpeed = -msg.leftWheelVel / 401.0; status.yawRate = msg.yawRate / 7.8; } else { status.leftWheelSpeed = msg.leftWheelVel / 401.0; status.rightWheelSpeed = msg.rightWheelVel / 401.0; status.yawRate = msg.yawRate / 7.8; } status.servoFrameCounter = msg.servoFrames * .01; status.wheelSpeedTs = ts; wheelSpeedTs = ts; if (StatusUpdated != null) { StatusUpdated(this, null); } if (WheelSpeedUpdate != null) { WheelSpeedUpdate(this, new TimestampedEventArgs <IRobotTwoWheelStatus>(ts, new SegwayStatus(status))); } }
private void HandleMonitor3(BinaryReader br, double ts) { RMPMonitor3Msg msg = new RMPMonitor3Msg(br); if (isBackwards) { status.leftWheelSpeed = -msg.rightWheelVel / 401.0; status.rightWheelSpeed = -msg.leftWheelVel / 401.0; status.yawRate = msg.yawRate / 7.8; } else { status.leftWheelSpeed = msg.leftWheelVel / 401.0; status.rightWheelSpeed = msg.rightWheelVel / 401.0; status.yawRate = msg.yawRate / 7.8; } status.servoFrameCounter = msg.servoFrames * .01; status.wheelSpeedTs = ts; wheelSpeedTs = ts; if (StatusUpdated != null) StatusUpdated(this, null); if (WheelSpeedUpdate != null) WheelSpeedUpdate(this, new TimestampedEventArgs<IRobotTwoWheelStatus>(ts, new SegwayStatus(status))); }