public virtual void OnSpeedIndependantPidDebugDataFromRobot(byte[] payload)
{
OnSpeedIndependantPidErrorCorrectionConsigneDataFromRobotGeneratedEvent?.Invoke(this, new IndependantPidErrorCorrectionConsigneDataArgs
{
timeStampMS = (uint)(payload[3] | payload[2] << 8 | payload[1] << 16 | payload[0] << 24),
M1Erreur = BitConverter.ToSingle(payload, 4 * 01),
M2Erreur = BitConverter.ToSingle(payload, 4 * 02),
M3Erreur = BitConverter.ToSingle(payload, 4 * 03),
M4Erreur = BitConverter.ToSingle(payload, 4 * 04),
M1Correction = BitConverter.ToSingle(payload, 4 * 05),
M2Correction = BitConverter.ToSingle(payload, 4 * 06),
M3Correction = BitConverter.ToSingle(payload, 4 * 07),
M4Correction = BitConverter.ToSingle(payload, 4 * 08),
M1ConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 09),
M2ConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 10),
M3ConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 11),
M4ConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 12)
});
}
public virtual void OnSpeedIndependantPidDebugDataFromRobot(uint timeStamp, double M1Error, double M2Error, double M3Error, double M4Error,
double M1Correction, double M2Correction, double M3Correction, double M4Correction,
double M1ConsigneRobot, double M2ConsigneRobot, double M3ConsigneRobot, double M4ConsigneRobot)
{
OnSpeedIndependantPidErrorCorrectionConsigneDataFromRobotGeneratedEvent?.Invoke(this, new IndependantPidErrorCorrectionConsigneDataArgs
{
timeStampMS = timeStamp,
M1Erreur = M1Error,
M2Erreur = M2Error,
M3Erreur = M3Error,
M4Erreur = M4Error,
M1Correction = M1Correction,
M2Correction = M2Correction,
M3Correction = M3Correction,
M4Correction = M4Correction,
M1ConsigneFromRobot = M1ConsigneRobot,
M2ConsigneFromRobot = M2ConsigneRobot,
M3ConsigneFromRobot = M3ConsigneRobot,
M4ConsigneFromRobot = M4ConsigneRobot
});
}
