/**
* <summary>
* Set the Angle Map by setting a Pulse Width Map given a struct of Pulse Width Constants
* </summary>
* <param name="PulseWidthMap">Map of roboticangles to pulse widths</param>
* <param name="pwc">Pulse Width Constant for pulse width translation</param>
*/
public void SetPulseWidthMap(Dictionary<RoboticAngle, ulong> PulseWidthMap, PulseWidthConstants pwc)
{
AngleMap.Clear();
foreach (KeyValuePair<RoboticAngle, ulong>pw in PulseWidthMap)
{
AngleMap[pw.Key] = pwc.PulseWidthToAngle(pw.Value);
}
}
/**
* <summary>
* Translate the Angle Map to a pulse width map given a struct of Pulse Width Constants
* </summary>
* <param name="pwc">Pulse Width Constant for pulse width translation</param>
* <returns>Pulse Width Dictionary Map</returns>
*/
public Dictionary<RoboticAngle, ulong> GetPulseWidthMap(PulseWidthConstants pwc)
{
Dictionary<RoboticAngle, ulong> PulseWidthMap = new Dictionary<RoboticAngle, ulong>();
foreach (KeyValuePair<RoboticAngle, double> angle in AngleMap)
{
PulseWidthMap[angle.Key] = pwc.AngleToPulseWidth(angle.Value);
}
return PulseWidthMap;
}
