public virtual void OnSpeedIndependantPidCorrectionDataFromRobot(double corrPM1, double corrIM1, double corrDM1, double corrPM2, double corrIM2, double corrDM2, double corrPM3, double corrIM3, double corrDM3, double corrPM4, double corrIM4, double corrDM4)
{
OnSpeedIndependantPidCorrectionDataFromRobotEvent?.Invoke(this, new IndependantPidCorrectionArgs
{
CorrPM1 = corrPM1,
CorrIM1 = corrIM1,
CorrDM1 = corrDM1,
CorrPM2 = corrPM2,
CorrIM2 = corrIM2,
CorrDM2 = corrDM2,
CorrPM3 = corrPM3,
CorrIM3 = corrIM3,
CorrDM3 = corrDM3,
CorrPM4 = corrPM4,
CorrIM4 = corrIM4,
CorrDM4 = corrDM4
});
}
public virtual void OnSpeedIndependantPidCorrectionDataFromRobot(byte[] payload)
{
uint timeStamp = (uint)(payload[3] | payload[2] << 8 | payload[1] << 16 | payload[0] << 24);
OnSpeedIndependantPidCorrectionDataFromRobotEvent?.Invoke(this, new IndependantPidCorrectionArgs
{
CorrPM1 = BitConverter.ToSingle(payload, 4 * 01),
CorrIM1 = BitConverter.ToSingle(payload, 4 * 02),
CorrDM1 = BitConverter.ToSingle(payload, 4 * 03),
CorrPM2 = BitConverter.ToSingle(payload, 4 * 04),
CorrIM2 = BitConverter.ToSingle(payload, 4 * 05),
CorrDM2 = BitConverter.ToSingle(payload, 4 * 06),
CorrPM3 = BitConverter.ToSingle(payload, 4 * 07),
CorrIM3 = BitConverter.ToSingle(payload, 4 * 08),
CorrDM3 = BitConverter.ToSingle(payload, 4 * 09),
CorrPM4 = BitConverter.ToSingle(payload, 4 * 10),
CorrIM4 = BitConverter.ToSingle(payload, 4 * 11),
CorrDM4 = BitConverter.ToSingle(payload, 4 * 12)
});
}
