public OutputToWheels Add(MotorPolarity leftMotorPolarity, MotorPolarity rightMotorPolarity, uint leftMotorTachocount, uint rightMotorTachocount)
{
var m = new OutputToWheels(leftMotorPolarity, rightMotorPolarity, leftMotorTachocount, rightMotorTachocount);
_motorOutputs.Add(m);
return(m);
}
/// <summary>
///
/// </summary>
/// <param name="leftMotorPower"></param>
/// <param name="rightMotorPower"></param>
/// <param name="leftMotorTachocount"></param>
/// <param name="rightMotorTachocount"></param>
public OutputToWheels(MotorPolarity leftMotorPolarity, MotorPolarity rightMotorPolarity, uint leftMotorTachocount, uint rightMotorTachocount)
{
DelayInSeconds = 0;
RightMotorTachocount = rightMotorTachocount;
LeftMotorTachocount = leftMotorTachocount;
LeftMotorPolarity = leftMotorPolarity;
RightMotorPolarity = rightMotorPolarity;
}
/// <summary>
///
/// </summary>
/// <param name="absPower"></param>
/// <param name="motPolarity"></param>
/// <returns></returns>
private sbyte ExtractMotorPower(uint absPower, MotorPolarity motPolarity)
{
var forwardPwr = Convert.ToSByte(absPower);
var reversePwr = Convert.ToSByte(-absPower);
switch (motPolarity)
{
case MotorPolarity.Forward:
return(forwardPwr);
case MotorPolarity.Reverse:
return(reversePwr);
default:
return(0);
}
}