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);
}
}
public void Initialize()
{
int LineCount = 2;
using (var reader = new StreamReader("Motorboards.csv"))
{
// Ignore first line in CSV for comment about formatting
var skipline = reader.ReadLine();
while (!reader.EndOfStream)
{
var line = reader.ReadLine();
var values = line.Split(',');
if (values.Length < 6)
{
Console.WriteLine("Motor data fields not complete at line " + LineCount);
}
else
{
MotorBoardData add = new MotorBoardData();
add.Model = int.Parse(values[1]);
add.P = UInt16.Parse(values[2]);
add.I = UInt16.Parse(values[3]);
add.D = UInt16.Parse(values[4]);
add.TicksPerRev = UInt16.Parse(values[5]);
switch (values[0])
{
case "MB1":
MB1.Add(add);
break;
case "MB2":
MB2.Add(add);
break;
case "MB3":
MB3.Add(add);
break;
case "MB4":
MB4.Add(add);
break;
case "MB5":
MB5.Add(add);
break;
case "MB6":
MB6.Add(add);
break;
case "MB7":
MB7.Add(add);
break;
default:
Console.WriteLine("Motor name not found for line " + LineCount);
break;
}
}
LineCount++;
}
}
}
