public RoboteqOutputSettings(Devices dev, bool invert, RoboteqChannel channel)
{
device = dev;
invert_flag = invert;
this.channel = channel;
}
private void SetMotorValue(Dictionary<Devices, int> state, RoboteqChannel channel)
{
int val;
RoboteqOutputSettings outputSettings;
if (channel_map.TryGetValue(channel, out outputSettings)) //check if this roboteq has config for this channel
{
if (state.TryGetValue(outputSettings.Device, out val)) //see if the state contains updated value
{
if (outputSettings.Invert)
val *= -1;
switch (channel) //set the appropriate backing variable, set ignore flags
{
case RoboteqChannel.Motor1:
motor1Value = val;
Interlocked.Exchange(ref watch_motor1_ignore, 1);
break;
case RoboteqChannel.Motor2:
motor2Value = val;
Interlocked.Exchange(ref watch_motor2_ignore, 1);
break;
default:
break;
}
}
}
//if not using motor channel, do nothing
}
