public void PubChamInfo(CTMA500 tma)
{
Messages.cham_msgs.ChamInfo msg = new Messages.cham_msgs.ChamInfo();
tma.__update();
msg.xl = tma.PD[1];
msg.xr = tma.PD[0];
msg.yl = tma.PD[3];
msg.yr = tma.PD[2];
chaminfo.publish(msg);
}
private void timer1_Tick(object sender, EventArgs e)
{
if (withTma)
{
tma.__update();
textBox_AD4.Text = "右x轴: " + tma.PD[0].ToString("F2") + "mm";
textBox_AD5.Text = "左x轴: " + tma.PD[1].ToString("F2") + "mm";
textBox_AD6.Text = "右y轴: " + tma.PD[2].ToString("F2") + "mm";
textBox_AD7.Text = "左y轴: " + tma.PD[3].ToString("F2") + "mm";
}
if (withros)
{
if (ros.isConnect && withTma)
{
ros.PubChamInfo(tma);
}
}
if (counter % 5 == 0)
{
//button1_Click(sender, e);
}
}