public virtual void OnSpeedPolarPidCorrectionDataFromRobot(double corrPx, double corrIx, double corrDx, double corrPy, double corrIy, double corrDy, double corrPTheta, double corrITheta, double corrDTheta)
{
OnSpeedPolarPidCorrectionDataFromRobotEvent?.Invoke(this, new PolarPidCorrectionArgs
{
CorrPx = corrPx,
CorrIx = corrIx,
CorrDx = corrDx,
CorrPy = corrPy,
CorrIy = corrIy,
CorrDy = corrDy,
CorrPTheta = corrPTheta,
CorrITheta = corrITheta,
CorrDTheta = corrDTheta
});
}
public virtual void OnSpeedPolarPidCorrectionDataFromRobot(byte[] payload)
{
uint timeStamp = (uint)(payload[3] | payload[2] << 8 | payload[1] << 16 | payload[0] << 24);
OnSpeedPolarPidCorrectionDataFromRobotEvent?.Invoke(this, new PolarPidCorrectionArgs
{
CorrPx = BitConverter.ToSingle(payload, 4 * 1),
CorrIx = BitConverter.ToSingle(payload, 4 * 2),
CorrDx = BitConverter.ToSingle(payload, 4 * 3),
CorrPy = BitConverter.ToSingle(payload, 4 * 4),
CorrIy = BitConverter.ToSingle(payload, 4 * 5),
CorrDy = BitConverter.ToSingle(payload, 4 * 6),
CorrPTheta = BitConverter.ToSingle(payload, 4 * 7),
CorrITheta = BitConverter.ToSingle(payload, 4 * 8),
CorrDTheta = BitConverter.ToSingle(payload, 4 * 9)
});
}