public void Process_GetOutputState(byte[] reply)
{
if (getOutputDelegate == null)
{
return;
}
MotorState state = new MotorState();
state.Power = (sbyte)reply[4];
state.Mode = (NXTOutputMode)reply[5];
state.Regulation = (NXTOutputRegulationMode)reply[6];
state.TurnRatio = (sbyte)reply[7];
state.RunState = (NXTOutputRunState)reply[8];
// tacho limit
state.TachoLimit = reply[9] | (reply[10] << 8) |
(reply[11] << 16) | (reply[12] << 24);
// tacho count
state.TachoCount = reply[13] | (reply[14] << 8) |
(reply[15] << 16) | (reply[16] << 24);
// block tacho count
state.BlockTachoCount = reply[17] | (reply[18] << 8) |
(reply[19] << 16) | (reply[20] << 24);
// rotation count
state.RotationCount = reply[21] | (reply[22] << 8) |
(reply[23] << 16) | (reply[24] << 24);
object[] args = new object[1];
args[0] = state;
Program.form1.Invoke(getOutputDelegate, args);
}
public void Process_GetOutputState(byte[] reply )
{
if (getOutputDelegate == null) return;
MotorState state = new MotorState();
state.Power = (sbyte)reply[4];
state.Mode = (NXTOutputMode)reply[5];
state.Regulation = (NXTOutputRegulationMode)reply[6];
state.TurnRatio = (sbyte)reply[7];
state.RunState = (NXTOutputRunState)reply[8];
// tacho limit
state.TachoLimit = reply[9] | (reply[10] << 8) |
(reply[11] << 16) | (reply[12] << 24);
// tacho count
state.TachoCount = reply[13] | (reply[14] << 8) |
(reply[15] << 16) | (reply[16] << 24);
// block tacho count
state.BlockTachoCount = reply[17] | (reply[18] << 8) |
(reply[19] << 16) | (reply[20] << 24);
// rotation count
state.RotationCount = reply[21] | (reply[22] << 8) |
(reply[23] << 16) | (reply[24] << 24);
object[] args = new object[1];
args[0] = state;
Program.form1.Invoke(getOutputDelegate, args);
}
