public XyrisJointValues GetXyrisJointValues()
{
XyrisJointValues v = new XyrisJointValues ();
v.LeftCrawlerRPM = (float)(_driver.GetXyrisUInt (PLCDriver.EXyrisDataField.mainCrwlLeftRPM));
v.RightCrawlerRPM = (float)(_driver.GetXyrisUInt (PLCDriver.EXyrisDataField.mainCrwlRightRPM));
v.FrontLefttRail=(float)(_driver.GetXyrisShort (PLCDriver.EXyrisDataField.subCrwlFrontLeft));
v.BackLeftRail=(float)(_driver.GetXyrisShort (PLCDriver.EXyrisDataField.subCrwlBackLeft));
v.FrontRightRail=(float)(_driver.GetXyrisShort (PLCDriver.EXyrisDataField.subCrwlFrontRight));
v.BackRightRail=(float)(_driver.GetXyrisShort (PLCDriver.EXyrisDataField.subCrwlBackRight));
v.LeftRail=(float)(_driver.GetXyrisShort (PLCDriver.EXyrisDataField.traverseLeft));
v.RightRail=(float)(_driver.GetXyrisShort (PLCDriver.EXyrisDataField.traverseRight));
v.YBMJoint=(float)(_driver.GetYBMUShort (PLCDriver.EYbmDataField.rodPitch))/10.0f;
v.YBMRod = 0;//(float)(_driver.GetYBMUShort (PLCDriver.EYbmDataField.rodRaised));
v.YBMBaseRoll=(float)(_driver.GetYBMUShort (PLCDriver.EYbmDataField.baseRoll))/10.0f;
return v;
}
public XyrisJointValues GetXyrisJointValues()
{
XyrisJointValues v = new XyrisJointValues();
v.LeftCrawlerRPM = (float)(_driver.GetXyrisUInt(PLCDriver.EXyrisDataField.mainCrwlLeftRPM));
v.RightCrawlerRPM = (float)(_driver.GetXyrisUInt(PLCDriver.EXyrisDataField.mainCrwlRightRPM));
v.FrontLefttRail = (float)(_driver.GetXyrisShort(PLCDriver.EXyrisDataField.subCrwlFrontLeft));
v.BackLeftRail = (float)(_driver.GetXyrisShort(PLCDriver.EXyrisDataField.subCrwlBackLeft));
v.FrontRightRail = (float)(_driver.GetXyrisShort(PLCDriver.EXyrisDataField.subCrwlFrontRight));
v.BackRightRail = (float)(_driver.GetXyrisShort(PLCDriver.EXyrisDataField.subCrwlBackRight));
v.LeftRail = (float)(_driver.GetXyrisShort(PLCDriver.EXyrisDataField.traverseLeft));
v.RightRail = (float)(_driver.GetXyrisShort(PLCDriver.EXyrisDataField.traverseRight));
v.YBMJointPitch = (float)(_driver.GetYBMUShort(PLCDriver.EYbmDataField.rodPitch)) / 10.0f;
v.BasePitch = (float)(_driver.GetYBMUShort(PLCDriver.EYbmDataField.basePitch)) / 10.0f;
v.YBMRod = 0; //(float)(_driver.GetYBMUShort (PLCDriver.EYbmDataField.rodRaised));
v.YBMBaseRoll = (float)(_driver.GetYBMUShort(PLCDriver.EYbmDataField.baseRoll)) / 10.0f;
return(v);
}
