private static void sendPIDT(ICANBus CANBus, byte receiver, MotorBoardData MBD)
{
if (MBD != null)
{
UtilCan.SetP(CANBus, true, 0x2, receiver, MBD.P, 0);
UtilCan.SetI(CANBus, true, 0x2, receiver, MBD.I, 0);
UtilCan.SetD(CANBus, true, 0x2, receiver, MBD.D, 0);
UtilCan.SetTicksPerRev(CANBus, true, 0x2, receiver, MBD.TicksPerRev);
Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO,
"MotorBoard with CAN ID " + receiver + " set: Model=" + MBD.Model + " P=" + MBD.P + " I=" + MBD.I + " D=" + MBD.D);
}
}
private static void sendPIDT(ICANBus CANBus, byte receiver, MotorBoardData MBD)
{
if (MBD == null)
{
Console.WriteLine("MotorBoard ID not found in CSV");
}
else
{
UtilCan.SetP(CANBus, true, 0x2, receiver, MBD.P, 0);
UtilCan.SetI(CANBus, true, 0x2, receiver, MBD.I, 0);
UtilCan.SetD(CANBus, true, 0x2, receiver, MBD.D, 0);
UtilCan.SetTicksPerRev(CANBus, true, 0x2, receiver, MBD.TicksPerRev);
}
}
