/// <summary>
/// Transform generic state to this instance.
/// </summary>
/// <param name="genericState"></param>
public void CopyFromGenericState(pxdrive.DriveDifferentialTwoWheelState genericState)
{
if (genericState.DistanceBetweenWheels > 0.0)
{
this.DistanceBetweenWheels = genericState.DistanceBetweenWheels;
}
this.TimeStamp = genericState.TimeStamp;
if (genericState.LeftWheel != null)
{
if (genericState.LeftWheel.Radius > 0.0)
{
this.LeftWheel.WheelDiameter = genericState.LeftWheel.Radius * 2.0;
}
if (genericState.LeftWheel.MotorState != null)
{
if (this.RuntimeStatistics == null)
{
this.RuntimeStatistics = new RuntimeStatistics();
}
this.RuntimeStatistics.LeftPowerCurrent = genericState.LeftWheel.MotorState.CurrentPower;
this.LeftWheel.ReversePolarity = genericState.LeftWheel.MotorState.ReversePolarity;
if (genericState.LeftWheel.MotorState.HardwareIdentifier > 0 && genericState.LeftWheel.MotorState.HardwareIdentifier <= 3)
{
if (genericState.LeftWheel.MotorState.HardwareIdentifier > 0 && genericState.LeftWheel.MotorState.HardwareIdentifier <= 3)
{
this.LeftWheel.MotorPort = NxtDrive.HardwareIdentifierToMotorPort(genericState.LeftWheel.MotorState.HardwareIdentifier, this.LeftWheel.MotorPort);
}
}
}
}
if (genericState.RightWheel != null)
{
if (genericState.RightWheel.Radius > 0.0)
{
this.RightWheel.WheelDiameter = genericState.RightWheel.Radius * 2.0;
}
if (genericState.RightWheel.MotorState != null)
{
if (this.RuntimeStatistics == null)
{
this.RuntimeStatistics = new RuntimeStatistics();
}
this.RuntimeStatistics.RightPowerCurrent = genericState.RightWheel.MotorState.CurrentPower;
this.RightWheel.ReversePolarity = genericState.RightWheel.MotorState.ReversePolarity;
if (genericState.RightWheel.MotorState.HardwareIdentifier > 0)
{
if (genericState.RightWheel.MotorState.HardwareIdentifier > 0 && genericState.RightWheel.MotorState.HardwareIdentifier <= 3)
{
this.RightWheel.MotorPort = NxtDrive.HardwareIdentifierToMotorPort(genericState.RightWheel.MotorState.HardwareIdentifier, this.RightWheel.MotorPort);
}
}
}
}
}
/// <summary>
/// Copy state to generic state.
/// </summary>
/// <param name="genericState"></param>
public pxdrive.DriveDifferentialTwoWheelState CopyToGenericState(pxdrive.DriveDifferentialTwoWheelState genericState)
{
genericState.DistanceBetweenWheels = this.DistanceBetweenWheels;
genericState.IsEnabled = this.LeftWheel.MotorPort != NxtMotorPort.NotConnected && this.RightWheel.MotorPort != NxtMotorPort.NotConnected;
genericState.TimeStamp = this.TimeStamp;
if (genericState.LeftWheel == null)
{
genericState.LeftWheel = new pxmotor.WheeledMotorState();
}
if (genericState.LeftWheel.MotorState == null)
{
genericState.LeftWheel.MotorState = new pxmotor.MotorState();
}
genericState.LeftWheel.MotorState.CurrentPower = this.RuntimeStatistics.LeftPowerCurrent;
genericState.LeftWheel.MotorState.HardwareIdentifier = NxtDrive.MotorPortToHardwareIdentifier(this.LeftWheel.MotorPort);
genericState.LeftWheel.MotorState.PowerScalingFactor = 100.0;
genericState.LeftWheel.MotorState.ReversePolarity = this.LeftWheel.ReversePolarity;
genericState.LeftWheel.Radius = this.LeftWheel.WheelDiameter / 2.0;
if (genericState.RightWheel == null)
{
genericState.RightWheel = new pxmotor.WheeledMotorState();
}
if (genericState.RightWheel.MotorState == null)
{
genericState.RightWheel.MotorState = new pxmotor.MotorState();
}
genericState.RightWheel.MotorState.CurrentPower = this.RuntimeStatistics.RightPowerCurrent;
genericState.RightWheel.MotorState.HardwareIdentifier = NxtDrive.MotorPortToHardwareIdentifier(this.RightWheel.MotorPort);
genericState.RightWheel.MotorState.PowerScalingFactor = 100.0;
genericState.RightWheel.MotorState.ReversePolarity = this.RightWheel.ReversePolarity;
genericState.RightWheel.Radius = this.RightWheel.WheelDiameter / 2.0;
return(genericState);
}