void ConnectionDrive::HandlePdo1 ( const uint8_t &  node, const uint8_t *  data, const Time &  tv  )

inlineprivate

Definition at line 748 of file drivectrl.cc.

References Time::GetAsStr().

    {
        const uint32_t pos1 = (data[3]<<24) | (data[2]<<16) | (data[1]<<8) | data[0];
        const uint32_t pos2 = (data[7]<<24) | (data[6]<<16) | (data[5]<<8) | data[4];

        if (fVerbosity>2)
            Out() << Time().GetAsStr("%M:%S.%f") << " PDO1[" << (int)node << "] " << 360.*int32_t(pos1)/fPosRes[node/2] << " " << 360.*int32_t(pos2)/fPosRes[node/2] << endl;

        // Once every few milliseconds!

        fPdoPos1[node/2]  = pos1;
        fPdoTime1[node/2] = tv;
        fHasChangedPos1[node/2] = true;

        fPdoPos2[node/2]  = pos2;
        fPdoTime2[node/2] = tv;
        fHasChangedPos2[node/2] = true;
    }

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