public Pioneer3(NetworkAddress feedback, NetworkAddress control, bool isBackwards, int id)
{
this.isBackwards = isBackwards;
this.ipMulticast = feedback.Address;
this.port = feedback.Port;
this.ipUnicast = control.Address;
this.controlPort = control.Port;
status = new SegwayStatus();
udpClient = new UdpClient();
simMode = false;
robotID = id;
}
public SegwayStatus(SegwayStatus toCopy)
{
this.pitch = toCopy.pitch;
this.pitchRate = toCopy.pitchRate;
this.roll = toCopy.roll;
this.rollRate = toCopy.rollRate;
this.leftWheelSpeed = toCopy.leftWheelSpeed;
this.rightWheelSpeed = toCopy.rightWheelSpeed;
this.yawRate = toCopy.yawRate;
this.servoFrameCounter = toCopy.servoFrameCounter;
this.integratedLeftWheelPosition = toCopy.integratedLeftWheelPosition;
this.integratedRightWheelPosition = toCopy.integratedRightWheelPosition;
this.integratedForeAftPosition = toCopy.integratedForeAftPosition;
this.integratedTurnPosition = toCopy.integratedTurnPosition;
this.powerbaseVoltage = toCopy.powerbaseVoltage;
this.userInterfaceVoltage = toCopy.userInterfaceVoltage;
this.motorTorqueLeft = toCopy.motorTorqueLeft;
this.motorTorqueRight = toCopy.motorTorqueRight;
this.gainSchedule = toCopy.gainSchedule;
this.operationalMode = toCopy.operationalMode;
this.wheelPosTs = toCopy.wheelPosTs;
this.wheelTorqueTs = toCopy.wheelTorqueTs;
this.wheelSpeedTs = toCopy.wheelSpeedTs;
}
