public void UpdateWindupGuard(double val)
{
byte[] buffer = new byte[1 + (1 * BinaryHelper.SIZE_FLOAT) + 1];
int i = 0;
buffer[i++] = (byte)'W';
BinaryHelper.WriteFloat(val, buffer, ref i);
buffer[i++] = BinaryHelper.ComputeChecksumCRC8(buffer, 1, buffer.Length - 1);
SendRequest(buffer, i);
}
public void UpdatePid(PidType type, PidObj pid)
{
byte[] buffer = new byte[1 + 1 + (3 * BinaryHelper.SIZE_FLOAT) + 1];
int i = 0;
buffer[i++] = (byte)'P';
buffer[i++] = PidTypeToCode(type);
BinaryHelper.WriteFloat(pid.P, buffer, ref i);
BinaryHelper.WriteFloat(pid.I, buffer, ref i);
BinaryHelper.WriteFloat(pid.D, buffer, ref i);
buffer[i++] = BinaryHelper.ComputeChecksumCRC8(buffer, 1, buffer.Length - 1);
SendRequest(buffer, i);
}