public void CheckVersion(byte[] respond)
{
var args = new RespondEventArgs();
args.Bytes = respond;
CheckVersionEvent?.Invoke(this, args);
}
public void GetGyrZ(byte[] respond)
{
var args = new RespondEventArgs();
args.Floats = new float[1];
args.Floats[0] = BitConverter.ToSingle(respond, 0);
GetGyrZEvent?.Invoke(this, args);
}
public void GetAllMpuDataEvent(object sender, RespondEventArgs e)
{
_mpuData.AccX = e.Floats[0];
_mpuData.AccY = e.Floats[1];
_mpuData.AccZ = e.Floats[2];
_mpuData.GyrX = e.Floats[3];
_mpuData.GyrY = e.Floats[4];
_mpuData.GyrZ = e.Floats[5];
RefreshMpuStatusBox();
}
public void GetAllMpuData(byte[] respond)
{
var args = new RespondEventArgs();
args.Floats = new float[6];
for (var i = 0; i < 6; ++i)
{
args.Floats[i] = BitConverter.ToSingle(respond, i * 4);
}
GetAllMpuDataEvent?.Invoke(this, args);
}
public void GetAngleEvent(object sender, RespondEventArgs e)
{
AngleTextBox.Text = e.Floats[0].ToString(CultureInfo.InvariantCulture);
}
public void GetVelocityKiEvent(object sender, RespondEventArgs e)
{
VelocityKiTextBox.Text = e.Floats[0].ToString(CultureInfo.InvariantCulture);
}
public void GetBalanceKpEvent(object sender, RespondEventArgs e)
{
BalanceKpTextBox.Text = e.Floats[0].ToString(CultureInfo.InvariantCulture);
}
public void GetGyrZEvent(object sender, RespondEventArgs e)
{
_mpuData.GyrZ = e.Floats[0];
RefreshMpuStatusBox();
}
public void CheckVersionEvent(object sender, RespondEventArgs e)
{
string[] str = { "Current Version is ", e.Bytes[0].ToString(), ".", e.Bytes[1].ToString(), "!" };
MessageBox.Show(string.Concat(str), "Version Check");
}