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)));
}
