private static void sendPIDT(ICANBus CANBus, byte receiver, MotorBoardData MBD) { if (MBD != null) { UtilCan.SetP(CANBus, true, 0x2, receiver, MBD.P, 0); UtilCan.SetI(CANBus, true, 0x2, receiver, MBD.I, 0); UtilCan.SetD(CANBus, true, 0x2, receiver, MBD.D, 0); UtilCan.SetTicksPerRev(CANBus, true, 0x2, receiver, MBD.TicksPerRev); Log.Output(Log.Severity.INFO, Log.Source.HARDWAREIO, "MotorBoard with CAN ID " + receiver + " set: Model=" + MBD.Model + " P=" + MBD.P + " I=" + MBD.I + " D=" + MBD.D); } }
private static void sendPIDT(ICANBus CANBus, byte receiver, MotorBoardData MBD) { if (MBD == null) { Console.WriteLine("MotorBoard ID not found in CSV"); } else { UtilCan.SetP(CANBus, true, 0x2, receiver, MBD.P, 0); UtilCan.SetI(CANBus, true, 0x2, receiver, MBD.I, 0); UtilCan.SetD(CANBus, true, 0x2, receiver, MBD.D, 0); UtilCan.SetTicksPerRev(CANBus, true, 0x2, receiver, MBD.TicksPerRev); } }