public void SetStatusFrameRateMs(StatusFrameRate stateFrameRate, int periodMs, uint timeoutMs = 0)
{
/* bounds check the period */
if (periodMs < 1)
{
periodMs = 1;
}
else if (periodMs > 255)
{
periodMs = 255;
}
/* bounds frame */
if ((int)stateFrameRate > 255)
{
return;
}
/* save the unsigned pieces */
int period = (int)periodMs;
int idx = ((int)stateFrameRate & 0xFF);
/* assemble */
int paramValue = period;
paramValue <<= 8;
paramValue |= idx;
/* send the set request */
ConfigSetParameter(ParamEnum.StatusFrameRate, paramValue, timeoutMs);
}
public int SetStatusFrameRate(StatusFrameRate statusFrame, uint newPeriodMs, uint timeoutMs = 0)
{
return(_ll.SetStatusFrameRate((uint)statusFrame, newPeriodMs, timeoutMs));
}
/**
* Select the feedback device to use in closed-loop
*/
public void SetStatusFrameRateMs(StatusFrameRate stateFrame, uint periodMs)
{
int status = m_impl.SetStatusFrameRate((uint)stateFrame, periodMs);
HandleStatus(status);
}
