public void Send_PID()
{
reglage_pid pid = new reglage_pid();
pid.id = ID;
if (coef_P.text != "")
{
pid.P = float.Parse(coef_P.text, Common_settings.culture);
}
if (coef_I.text != "")
{
pid.I = float.Parse(coef_I.text, Common_settings.culture);
}
if (coef_D.text != "")
{
pid.D = float.Parse(coef_D.text, Common_settings.culture);
}
if (Max_Min.text != "")
{
pid.Min_Max = (byte)float.Parse(Max_Min.text, Common_settings.culture);
}
if (Cumul.text != "")
{
pid.Cumul = (short)float.Parse(Cumul.text, Common_settings.culture);
}
if (Sommation.isOn)
{
pid.Sommation = 1;
}
else
{
pid.Sommation = 0;
}
if (Enable.isOn)
{
pid.Enable = 1;
}
else
{
pid.Enable = 0;
}
Communication.Communication_Trame trame = new Communication.Communication_Trame();
trame = Communication.GetTrameFromClass <reglage_pid>(pid);
trame.Slave_Adresse = Communication.Slave_Adresses.MultiFct_1; //uniquement la carte 1 qui gère les déplacement
trame.Instruction = Communication.Com_Instruction.PARAMETRES_PID;
trame.XBEE_DEST_ADDR = Communication.Adress_Xbee.ALL_XBEE;
GameObject.FindWithTag("Communication port").GetComponent <Message_Sender>().Send_Trame(trame);
}
public void Send_PID()
{
reglage_pid pid = new reglage_pid();
pid.id = ID;
if (coef_P.text != "")
{
pid.P = Convert.ToSingle(coef_P.text.Replace('.', ','));
}
if (coef_I.text != "")
{
pid.I = Convert.ToSingle(coef_I.text.Replace('.', ','));
}
if (coef_D.text != "")
{
pid.D = Convert.ToSingle(coef_D.text.Replace('.', ','));
}
if (Max_Min.text != "")
{
pid.Min_Max = (byte)Convert.ToSingle(Max_Min.text.Replace('.', ','));
}
if (Cumul.text != "")
{
pid.Cumul = (short)Convert.ToSingle(Cumul.text.Replace('.', ','));
}
if (Sommation.isOn)
{
pid.Sommation = 1;
}
else
{
pid.Sommation = 0;
}
if (Enable.isOn)
{
pid.Enable = 1;
}
else
{
pid.Enable = 0;
}
Communication.Communication_Trame trame = new Communication.Communication_Trame();
trame.Slave_Adresse = Communication.Slave_Adresses.ALL_CARDS;
trame.Instruction = Communication.Com_Instruction.PARAMETRES_PID;
trame.XBEE_DEST_ADDR = Communication.Adress_Xbee.ALL_XBEE;
int size = Marshal.SizeOf(pid);
byte[] arr = new byte[size];
IntPtr ptr = Marshal.AllocHGlobal(size);
Marshal.StructureToPtr(pid, ptr, true);
Marshal.Copy(ptr, arr, 0, size);
Marshal.FreeHGlobal(ptr);
trame.Data = arr;
trame.Length = (byte)size;
Communication_port.GetComponent <Communication_Send_Instructions>().Send_Instruction(trame);
}
