private void SerialMessages_MessageReceived(object sender, Messages.MESSAGE_IDS msgId, object value)
{
switch (msgId)
{
case Messages.MESSAGE_IDS.PARAM_KP:
UpdateParameters("Kp", value.ToString());
break;
case Messages.MESSAGE_IDS.PARAM_KI:
UpdateParameters("Ki", value.ToString());
break;
case Messages.MESSAGE_IDS.PARAM_KD:
UpdateParameters("Kd", value.ToString());
break;
case Messages.MESSAGE_IDS.PARAM_CURRENT:
UpdateParameters("Current", value.ToString());
break;
case Messages.MESSAGE_IDS.PARAM_STEPSIZE:
UpdateParameters("Step Size", value.ToString());
break;
case Messages.MESSAGE_IDS.PARAM_ENDIR:
UpdateParameters("EN Pin", value.ToString());
break;
case Messages.MESSAGE_IDS.PARAM_MOTORDIR:
UpdateParameters("Motor Direction", value.ToString());
break;
case Messages.MESSAGE_IDS.VALUE_ANGLE:
{
UpdateValues("angle", (float)value);
break;
}
case Messages.MESSAGE_IDS.VALUE_ANGLE_ERR:
{
UpdateValues("angleErr", (float)value);
break;
}
}
}
private void SerialMessages_MessageReceived1(object sender, Messages.MESSAGE_IDS msgId, object value)
{
switch (msgId)
{
case Messages.MESSAGE_IDS.VALUE_ANGLE_ERR:
{
float angError = (float)value;
var span = pidAutotuneClass.AddAngleError(angError);
}
break;
case Messages.MESSAGE_IDS.VALUE_ANGLE:
{
float ang = (float)value;
var span = pidAutotuneClass.AddAngle(ang);
}
break;
}
}
public void NotifyNewMessageReceived(Messages.MESSAGE_IDS id, object data)
{
MessageReceived?.Invoke(this, id, data);
}