public ControllerDataSeries(AngleController angleController)
{
controllerDataString = $"{angleController.MotorType}ControllerData";
this.angleController = angleController;
angleController.PropertyChanged += OnAngleControllerPropertyChanged;
ControllerData = angleController.ControllerData;
MotorType = angleController.MotorType;
MotorDriver = angleController.MotorDriver;
foreach (var profile in angleController.PidProfiles.Values)
{
if (profile.DirectionProfile == DirectionProfile.CW)
{
CWProportionalGain = profile.ProportionalGain;
CWIntegralGain = profile.IntegralGain;
CWDerivativeGain = profile.DerivativeGain;
}
else
{
CCWProportionalGain = profile.ProportionalGain;
CCWIntegralGain = profile.IntegralGain;
CCWDerivativeGain = profile.DerivativeGain;
}
}
IWindupThreshold = angleController.IntegralWindupThreshold;
OutputRateLimit = angleController.OutputRateLimit;
}
public void Dispose()
{
angleController.PropertyChanged -= OnAngleControllerPropertyChanged;
angleController = null;
}
