public Pioneer3(NetworkAddress feedback, NetworkAddress control, bool isBackwards, int id) { this.isBackwards = isBackwards; this.ipMulticast = feedback.Address; this.port = feedback.Port; this.ipUnicast = control.Address; this.controlPort = control.Port; status = new SegwayStatus(); udpClient = new UdpClient(); simMode = false; robotID = id; }
public SegwayStatus(SegwayStatus toCopy) { this.pitch = toCopy.pitch; this.pitchRate = toCopy.pitchRate; this.roll = toCopy.roll; this.rollRate = toCopy.rollRate; this.leftWheelSpeed = toCopy.leftWheelSpeed; this.rightWheelSpeed = toCopy.rightWheelSpeed; this.yawRate = toCopy.yawRate; this.servoFrameCounter = toCopy.servoFrameCounter; this.integratedLeftWheelPosition = toCopy.integratedLeftWheelPosition; this.integratedRightWheelPosition = toCopy.integratedRightWheelPosition; this.integratedForeAftPosition = toCopy.integratedForeAftPosition; this.integratedTurnPosition = toCopy.integratedTurnPosition; this.powerbaseVoltage = toCopy.powerbaseVoltage; this.userInterfaceVoltage = toCopy.userInterfaceVoltage; this.motorTorqueLeft = toCopy.motorTorqueLeft; this.motorTorqueRight = toCopy.motorTorqueRight; this.gainSchedule = toCopy.gainSchedule; this.operationalMode = toCopy.operationalMode; this.wheelPosTs = toCopy.wheelPosTs; this.wheelTorqueTs = toCopy.wheelTorqueTs; this.wheelSpeedTs = toCopy.wheelSpeedTs; }