public virtual void OnPolarPidErrorCorrectionConsigneDataFromRobot(byte[] payload) { OnSpeedPolarPidErrorCorrectionConsigneDataFromRobotGeneratedEvent?.Invoke(this, new PolarPidErrorCorrectionConsigneDataArgs { timeStampMS = (uint)(payload[3] | payload[2] << 8 | payload[1] << 16 | payload[0] << 24), xErreur = BitConverter.ToSingle(payload, 4 * 1), yErreur = BitConverter.ToSingle(payload, 4 * 2), thetaErreur = BitConverter.ToSingle(payload, 4 * 3), xCorrection = BitConverter.ToSingle(payload, 4 * 4), yCorrection = BitConverter.ToSingle(payload, 4 * 5), thetaCorrection = BitConverter.ToSingle(payload, 4 * 6), xConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 7), yConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 8), thetaConsigneFromRobot = BitConverter.ToSingle(payload, 4 * 9) }); }
public virtual void OnPolarPidErrorCorrectionConsigneDataFromRobot(uint timeStamp, double xError, double yError, double thetaError, double xCorrection, double yCorrection, double thetaCorrection, double xConsigneRobot, double yConsigneRobot, double thetaConsigneRobot) { OnSpeedPolarPidErrorCorrectionConsigneDataFromRobotGeneratedEvent?.Invoke(this, new PolarPidErrorCorrectionConsigneDataArgs { timeStampMS = timeStamp, xErreur = xError, yErreur = yError, thetaErreur = thetaError, xCorrection = xCorrection, yCorrection = yCorrection, thetaCorrection = thetaCorrection, xConsigneFromRobot = xConsigneRobot, yConsigneFromRobot = yConsigneRobot, thetaConsigneFromRobot = thetaConsigneRobot }); }