private void ForwardButton_Click(object sender, EventArgs e)
{
short speedDelta = (short)SpeedDeltaNumericUpDown.Value;
short speed = LastCommandedMotorSettings.Speed += speedDelta;
if (speed > MaximumCommandedMotorSettings.Speed)
{
speed = MaximumCommandedMotorSettings.Speed;
}
DSMCUCommand command = new DSMCUCommand
{
Speed = speed,
TurnRate = LastCommandedMotorSettings.TurnRate,
STThetaXY = LastCommandedMotorSettings.STThetaXY,
STThetaZX = LastCommandedMotorSettings.STThetaZX
};
byte[] payloadByteArray = StructByteConverter.StructByteConverter.getByteArray(command);
MRSPSP.SendCommandMessage(command: (byte)MRSMessageType.DSMCUSetMotors, buffer: payloadByteArray);
LastCommandedMotorSettings = command;
// Test conversion back to DSMCUCommand struct:
//DSMCUCommand testCommand = StructByteConverter.StructByteConverter.fromBytes<DSMCUCommand>(payloadByteArray);
}
private void StopButton_Click(object sender, EventArgs e)
{
DSMCUCommand command = new DSMCUCommand
{
Speed = 0x0000,
TurnRate = 0x0000,
STThetaXY = LastCommandedMotorSettings.STThetaXY,
STThetaZX = LastCommandedMotorSettings.STThetaZX
};
byte[] payloadByteArray = StructByteConverter.StructByteConverter.getByteArray(command);
MRSPSP.SendCommandMessage(command: (byte)MRSMessageType.DSMCUSetMotors, buffer: payloadByteArray);
LastCommandedMotorSettings = command;
}
private void RightButton_Click(object sender, EventArgs e)
{
// Right turn is negative if x-axis is straight ahead and y-axis is directed to the left of the MRS chassis
short turnRateDelta = (short)TurnRateDeltaNumericUpDown.Value;
short turnRate = LastCommandedMotorSettings.TurnRate -= turnRateDelta;
if (turnRate < MinimumCommandedMotorSettings.TurnRate)
{
turnRate = MinimumCommandedMotorSettings.TurnRate;
}
DSMCUCommand command = LastCommandedMotorSettings;
command.TurnRate = turnRate;
byte[] payloadByteArray = StructByteConverter.StructByteConverter.getByteArray(command);
MRSPSP.SendCommandMessage(command: (byte)MRSMessageType.DSMCUSetMotors, buffer: payloadByteArray);
LastCommandedMotorSettings = command;
}