public void GenerateMessage4WheelsIndependantSpeedPIDSetup(object sender, IndependantPIDSetupArgs e)
{
byte[] payload = new byte[96];
payload.SetValueRange(((float)(e.P_M1)).GetBytes(), 0);
payload.SetValueRange(((float)(e.I_M1)).GetBytes(), 4);
payload.SetValueRange(((float)(e.D_M1)).GetBytes(), 8);
payload.SetValueRange(((float)(e.P_M2)).GetBytes(), 12);
payload.SetValueRange(((float)(e.I_M2)).GetBytes(), 16);
payload.SetValueRange(((float)(e.D_M2)).GetBytes(), 20);
payload.SetValueRange(((float)(e.P_M3)).GetBytes(), 24);
payload.SetValueRange(((float)(e.I_M3)).GetBytes(), 28);
payload.SetValueRange(((float)(e.D_M3)).GetBytes(), 32);
payload.SetValueRange(((float)(e.P_M4)).GetBytes(), 36);
payload.SetValueRange(((float)(e.I_M4)).GetBytes(), 40);
payload.SetValueRange(((float)(e.D_M4)).GetBytes(), 44);
payload.SetValueRange(((float)(e.P_M1_Limit)).GetBytes(), 48);
payload.SetValueRange(((float)(e.I_M1_Limit)).GetBytes(), 52);
payload.SetValueRange(((float)(e.D_M1_Limit)).GetBytes(), 56);
payload.SetValueRange(((float)(e.P_M2_Limit)).GetBytes(), 60);
payload.SetValueRange(((float)(e.I_M2_Limit)).GetBytes(), 64);
payload.SetValueRange(((float)(e.D_M2_Limit)).GetBytes(), 68);
payload.SetValueRange(((float)(e.P_M3_Limit)).GetBytes(), 72);
payload.SetValueRange(((float)(e.I_M3_Limit)).GetBytes(), 76);
payload.SetValueRange(((float)(e.D_M3_Limit)).GetBytes(), 80);
payload.SetValueRange(((float)(e.P_M4_Limit)).GetBytes(), 84);
payload.SetValueRange(((float)(e.I_M4_Limit)).GetBytes(), 88);
payload.SetValueRange(((float)(e.D_M4_Limit)).GetBytes(), 92);
OnMessageToRobot((Int16)Commands.PC2R_4WheelsIndependantSpeedPIDSetGains, 96, payload);
OnMessageToDisplaySpeedIndependantPidSetup(e);
}
public virtual void OnMessageToDisplaySpeedIndependantPidSetup(IndependantPIDSetupArgs setup)
{
OnMessageToDisplaySpeedIndependantPidSetupEvent?.Invoke(this, setup);
}
public void OnMessageToDisplayIndependantSpeedPidSetupReceived(object sender, IndependantPIDSetupArgs e)
{
asservSpeedDisplay.UpdateIndependantSpeedCorrectionGains(e.P_M1, e.P_M2, e.I_M1, e.I_M2, e.D_M1, e.D_M2);
asservSpeedDisplay.UpdateIndependantSpeedCorrectionLimits(e.P_M1_Limit, e.P_M2_Limit, e.I_M1_Limit, e.I_M2_Limit, e.D_M1_Limit, e.D_M2_Limit);
}
