public virtual void OnPolarPidErrorCorrectionConsigneDataFromRobot(byte[] payload)
{
OnSpeedPolarPidErrorCorrectionConsigneDataFromRobotGeneratedEvent?.Invoke(this, new PolarPidErrorCorrectionConsigneDataArgs
{
timeStampMS = (uint)(payload[3] | payload[2] << 8 | payload[1] << 16 | payload[0] << 24),
xErreur = BitConverter.ToSingle(payload, 4 * 1),
yErreur = BitConverter.ToSingle(payload, 4 * 2),
thetaErreur = BitConverter.ToSingle(payload, 4 * 3),
xCorrection = BitConverter.ToSingle(payload, 4 * 4),
yCorrection = BitConverter.ToSingle(payload, 4 * 5),
thetaCorrection = BitConverter.ToSingle(payload, 4 * 6),
xConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 7),
yConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 8),
thetaConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 9)
});
}
public virtual void OnPolarPidErrorCorrectionConsigneDataFromRobot(uint timeStamp, double xError, double yError, double thetaError,
double xCorrection, double yCorrection, double thetaCorrection, double xConsigneRobot, double yConsigneRobot, double thetaConsigneRobot)
{
OnSpeedPolarPidErrorCorrectionConsigneDataFromRobotGeneratedEvent?.Invoke(this, new PolarPidErrorCorrectionConsigneDataArgs
{
timeStampMS = timeStamp,
xErreur = xError,
yErreur = yError,
thetaErreur = thetaError,
xCorrection = xCorrection,
yCorrection = yCorrection,
thetaCorrection = thetaCorrection,
xConsigneFromRobot = xConsigneRobot,
yConsigneFromRobot = yConsigneRobot,
thetaConsigneFromRobot = thetaConsigneRobot
});
}
