public virtual void OnSpeedIndependantPidCorrectionDataFromRobot(double corrPM1, double corrIM1, double corrDM1, double corrPM2, double corrIM2, double corrDM2, double corrPM3, double corrIM3, double corrDM3, double corrPM4, double corrIM4, double corrDM4) { OnSpeedIndependantPidCorrectionDataFromRobotEvent?.Invoke(this, new IndependantPidCorrectionArgs { CorrPM1 = corrPM1, CorrIM1 = corrIM1, CorrDM1 = corrDM1, CorrPM2 = corrPM2, CorrIM2 = corrIM2, CorrDM2 = corrDM2, CorrPM3 = corrPM3, CorrIM3 = corrIM3, CorrDM3 = corrDM3, CorrPM4 = corrPM4, CorrIM4 = corrIM4, CorrDM4 = corrDM4 }); }
public virtual void OnSpeedIndependantPidCorrectionDataFromRobot(byte[] payload) { uint timeStamp = (uint)(payload[3] | payload[2] << 8 | payload[1] << 16 | payload[0] << 24); OnSpeedIndependantPidCorrectionDataFromRobotEvent?.Invoke(this, new IndependantPidCorrectionArgs { CorrPM1 = BitConverter.ToSingle(payload, 4 * 01), CorrIM1 = BitConverter.ToSingle(payload, 4 * 02), CorrDM1 = BitConverter.ToSingle(payload, 4 * 03), CorrPM2 = BitConverter.ToSingle(payload, 4 * 04), CorrIM2 = BitConverter.ToSingle(payload, 4 * 05), CorrDM2 = BitConverter.ToSingle(payload, 4 * 06), CorrPM3 = BitConverter.ToSingle(payload, 4 * 07), CorrIM3 = BitConverter.ToSingle(payload, 4 * 08), CorrDM3 = BitConverter.ToSingle(payload, 4 * 09), CorrPM4 = BitConverter.ToSingle(payload, 4 * 10), CorrIM4 = BitConverter.ToSingle(payload, 4 * 11), CorrDM4 = BitConverter.ToSingle(payload, 4 * 12) }); }