public void GenerateMessageMotorSetSpeedToRobot(object sender, MotorMessageArgs e)
{
byte[] payload = new byte[2];
if (100 >= e.leftMotor_a && e.leftMotor_a <= -100)
{
payload[0] = (byte)e.leftMotor_a;
}
else
{
payload[0] = (byte)((e.leftMotor_a > 0) ? 100 : -100);
}
if (100 >= e.rightMotor_a && e.rightMotor_a <= -100)
{
payload[1] = (byte)e.rightMotor_a;
}
else
{
payload[1] = (byte)((e.rightMotor_a > 0) ? 100 : -100);
}
OnMessageToRobot((ushort)Commands.MOTOR_GUI_TO_ROBOT, 2, payload);
}
public void UpdateIndependantSpeedErrorValues(object sender, MotorMessageArgs e)
{
errorM1List.Enqueue(e.leftMotor_a);
errorM2List.Enqueue(e.rightMotor_a);
}
public void UpdateIndependantOdometrySpeed(object sender, MotorMessageArgs e)
{
measuredM1List.Enqueue(e.leftMotor_a);
measuredM2List.Enqueue(e.rightMotor_a);
}
public void UpdateIndependantSpeedCommandValues(object receiver, MotorMessageArgs e)
{
commandM1List.Enqueue(e.leftMotor_a);
commandM2List.Enqueue(e.rightMotor_a);
}
