private void DriveEncoderHandler(drive.DriveEncodersUpdate statistics)
{
LeftEncoderCurrent = statistics.Body.LeftEncoderCurrent;
RightEncoderCurrent = statistics.Body.RightEncoderCurrent;
LeftPowerCurrent = statistics.Body.LeftPowerCurrent;
RightPowerCurrent = statistics.Body.RightPowerCurrent;
}
private void driveSensorHandler(drive.DriveEncodersUpdate notification)
{
//notification.Body.RightPowerTarget vs notification.Body.RightPowerCurrent difference?
// This sets the value of motorSpinning to true if the power of any of the motors is not 0 else it sets the
// value to false
if (notification.Body.RightPowerCurrent != 0 && notification.Body.LeftPowerCurrent != 0)
{
motorSpinning = true;
}
else
{
motorSpinning = false;
}
// Get current encoder readings (may use in future)
rightEncoder = notification.Body.RightEncoderCurrent;
leftEncoder = notification.Body.LeftEncoderCurrent;
}