/// <summary>
/// Transform generic state to this instance.
/// </summary>
/// <param name="genericState"></param>
public void CopyFromGenericState(pxdrive.DriveDifferentialTwoWheelState genericState)
{
if (genericState.DistanceBetweenWheels > 0.0)
{
this.DistanceBetweenWheels = genericState.DistanceBetweenWheels;
}
this.TimeStamp = genericState.TimeStamp;
if (genericState.LeftWheel != null)
{
if (genericState.LeftWheel.Radius > 0.0)
{
this.LeftWheel.WheelDiameter = genericState.LeftWheel.Radius * 2.0;
}
if (genericState.LeftWheel.MotorState != null)
{
if (this.RuntimeStatistics == null)
{
this.RuntimeStatistics = new RuntimeStatistics();
}
this.RuntimeStatistics.LeftPowerCurrent = genericState.LeftWheel.MotorState.CurrentPower;
this.LeftWheel.ReversePolarity = genericState.LeftWheel.MotorState.ReversePolarity;
if (genericState.LeftWheel.MotorState.HardwareIdentifier > 0 && genericState.LeftWheel.MotorState.HardwareIdentifier <= 3)
{
if (genericState.LeftWheel.MotorState.HardwareIdentifier > 0 && genericState.LeftWheel.MotorState.HardwareIdentifier <= 3)
{
this.LeftWheel.MotorPort = NxtDrive.HardwareIdentifierToMotorPort(genericState.LeftWheel.MotorState.HardwareIdentifier, this.LeftWheel.MotorPort);
}
}
}
}
if (genericState.RightWheel != null)
{
if (genericState.RightWheel.Radius > 0.0)
{
this.RightWheel.WheelDiameter = genericState.RightWheel.Radius * 2.0;
}
if (genericState.RightWheel.MotorState != null)
{
if (this.RuntimeStatistics == null)
{
this.RuntimeStatistics = new RuntimeStatistics();
}
this.RuntimeStatistics.RightPowerCurrent = genericState.RightWheel.MotorState.CurrentPower;
this.RightWheel.ReversePolarity = genericState.RightWheel.MotorState.ReversePolarity;
if (genericState.RightWheel.MotorState.HardwareIdentifier > 0)
{
if (genericState.RightWheel.MotorState.HardwareIdentifier > 0 && genericState.RightWheel.MotorState.HardwareIdentifier <= 3)
{
this.RightWheel.MotorPort = NxtDrive.HardwareIdentifierToMotorPort(genericState.RightWheel.MotorState.HardwareIdentifier, this.RightWheel.MotorPort);
}
}
}
}
}
/// <summary>
/// Clone RuntimeStatistics
/// </summary>
/// <returns></returns>
public object Clone()
{
RuntimeStatistics clone = new RuntimeStatistics();
clone.LeftPowerCurrent = this.LeftPowerCurrent;
clone.RightPowerCurrent = this.RightPowerCurrent;
clone.LeftEncoderCurrent = this.LeftEncoderCurrent;
clone.RightEncoderCurrent = this.RightEncoderCurrent;
clone.LeftEncoderTimeStamp = this.LeftEncoderTimeStamp;
clone.RightEncoderTimeStamp = this.RightEncoderTimeStamp;
clone.LeftEncoderTarget = this.LeftEncoderTarget;
clone.RightEncoderTarget = this.RightEncoderTarget;
clone.LeftPowerTarget = this.LeftPowerTarget;
clone.RightPowerTarget = this.RightPowerTarget;
clone.LeftMotorRpm = this.LeftMotorRpm;
clone.RightMotorRpm = this.RightMotorRpm;
clone.TargetStopState = this.TargetStopState;
return(clone);
}
