public virtual void OnSpeedIndependantPidDebugDataFromRobot(byte[] payload) { OnSpeedIndependantPidErrorCorrectionConsigneDataFromRobotGeneratedEvent?.Invoke(this, new IndependantPidErrorCorrectionConsigneDataArgs { timeStampMS = (uint)(payload[3] | payload[2] << 8 | payload[1] << 16 | payload[0] << 24), M1Erreur = BitConverter.ToSingle(payload, 4 * 01), M2Erreur = BitConverter.ToSingle(payload, 4 * 02), M3Erreur = BitConverter.ToSingle(payload, 4 * 03), M4Erreur = BitConverter.ToSingle(payload, 4 * 04), M1Correction = BitConverter.ToSingle(payload, 4 * 05), M2Correction = BitConverter.ToSingle(payload, 4 * 06), M3Correction = BitConverter.ToSingle(payload, 4 * 07), M4Correction = BitConverter.ToSingle(payload, 4 * 08), M1ConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 09), M2ConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 10), M3ConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 11), M4ConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 12) }); }
public virtual void OnSpeedIndependantPidDebugDataFromRobot(uint timeStamp, double M1Error, double M2Error, double M3Error, double M4Error, double M1Correction, double M2Correction, double M3Correction, double M4Correction, double M1ConsigneRobot, double M2ConsigneRobot, double M3ConsigneRobot, double M4ConsigneRobot) { OnSpeedIndependantPidErrorCorrectionConsigneDataFromRobotGeneratedEvent?.Invoke(this, new IndependantPidErrorCorrectionConsigneDataArgs { timeStampMS = timeStamp, M1Erreur = M1Error, M2Erreur = M2Error, M3Erreur = M3Error, M4Erreur = M4Error, M1Correction = M1Correction, M2Correction = M2Correction, M3Correction = M3Correction, M4Correction = M4Correction, M1ConsigneFromRobot = M1ConsigneRobot, M2ConsigneFromRobot = M2ConsigneRobot, M3ConsigneFromRobot = M3ConsigneRobot, M4ConsigneFromRobot = M4ConsigneRobot }); }