public virtual void UpdateEncoderRequest(ProtocolArray requestData)
{
if (EncoderOffset != 0)
{
if (0 == encoderOffsetCache)
{
encoderOffsetBits = ProtocolArray.SignificantBits((uint)Math.Abs(EncoderOffset));
encoderOffsetMask = (byte)((encoderOffsetBits << 1) + 1);
encoderOffsetBits++;
encoderOffsetCache = (Math.Abs(EncoderOffset) << 1) | -(Math.Sign(EncoderOffset) >> 1); //odd numbers are negative speed/backward direction
}
requestData.SetBits(1, 6, encoderOffsetMask);
requestData.SetBits(1, encoderOffsetBits, (uint)encoderOffsetCache);
}
else
{
requestData.SetBits(1, 1, 0);
}
}
public void DataArraySignificantBitsTest0()
{
Assert.AreEqual(0, ProtocolArray.SignificantBits(uint.MinValue));
}
public void DataArraySignificantBitsTestMaxUInt()
{
Assert.AreEqual(32, ProtocolArray.SignificantBits(uint.MaxValue));
}
