142 lines
4.5 KiB
C#
142 lines
4.5 KiB
C#
using System;
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namespace Plane.Copters
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{
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partial class CopterImplSharedPart
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{
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internal uint TimebootMs
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{
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get { return _TimebootMs; }
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set
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{
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_TimebootMs = value;
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AnalizeTimeBootMs(_TimebootMs);
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}
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}
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private float _moto1SpeedPercent;
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/// <summary>
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/// 1号马达转速百分比（0~1.0）
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/// </summary>
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public float Motor1SpeedPercent
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{
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get { return _moto1SpeedPercent; }
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set { Set(nameof(Motor1SpeedPercent), ref _moto1SpeedPercent, value); }
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}
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private float _moto2SpeedPercent;
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/// <summary>
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/// 2号马达转速百分比（0~1.0）
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/// </summary>
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public float Motor2SpeedPercent
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{
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get { return _moto2SpeedPercent; }
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set { Set(nameof(Motor2SpeedPercent), ref _moto2SpeedPercent, value); }
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}
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private float _moto3SpeedPercent;
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/// <summary>
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/// 3号马达转速百分比（0~1.0）
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/// </summary>
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public float Motor3SpeedPercent
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{
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get { return _moto3SpeedPercent; }
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set { Set(nameof(Motor3SpeedPercent), ref _moto3SpeedPercent, value); }
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}
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private float _moto4SpeedPercent;
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/// <summary>
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/// 4号马达转速百分比（0~1.0）
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/// </summary>
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public float Motor4SpeedPercent
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{
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get { return _moto4SpeedPercent; }
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set { Set(nameof(Motor4SpeedPercent), ref _moto4SpeedPercent, value); }
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}
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private float _moto5SpeedPercent;
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/// <summary>
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/// 5号马达转速百分比（0~1.0）
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/// </summary>
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public float Motor5SpeedPercent
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{
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get { return _moto5SpeedPercent; }
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set { Set(nameof(Motor5SpeedPercent), ref _moto5SpeedPercent, value); }
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}
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private float _moto6SpeedPercent;
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/// <summary>
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/// 6号马达转速百分比（0~1.0）
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/// </summary>
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public float Motor6SpeedPercent
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{
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get { return _moto6SpeedPercent; }
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set { Set(nameof(Motor6SpeedPercent), ref _moto6SpeedPercent, value); }
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}
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private float _moto7SpeedPercent;
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/// <summary>
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/// 7号马达转速百分比（0~1.0）
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/// </summary>
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public float Motor7SpeedPercent
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{
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get { return _moto7SpeedPercent; }
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set { Set(nameof(Motor7SpeedPercent), ref _moto7SpeedPercent, value); }
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}
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private float _moto8SpeedPercent;
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/// <summary>
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/// 8号马达转速百分比（0~1.0）
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/// </summary>
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public float Motor8SpeedPercent
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{
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get { return _moto8SpeedPercent; }
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set { Set(nameof(Motor8SpeedPercent), ref _moto8SpeedPercent, value); }
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}
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/// <summary>
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/// 将16进制映射为0~1.0的数值。
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/// 其中，0转为0，1~15映射为1~100。
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/// </summary>
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/// <param name="value"></param>
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/// <returns></returns>
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private float Converter1_15to1_100(int value)
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{
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if (value == 0f)
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{
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return 0;
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}
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else if (value == 1f)
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{
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return 0.01f;
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}
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else
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{
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return (value - 1) / 14f + 0.01f;
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}
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}
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private void AnalizeTimeBootMs(uint value)
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{
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var str = value.ToString("x8");//转成8位的16进制字符，共8个ASCII字符，每个字符对应一个马达转速（16进制）
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Motor1SpeedPercent = Converter1_15to1_100(Convert.ToInt32(str.Substring(str.Length - 1, 1), 16));
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Motor2SpeedPercent = Converter1_15to1_100(Convert.ToInt32(str.Substring(str.Length - 2, 1), 16));
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Motor3SpeedPercent = Converter1_15to1_100(Convert.ToInt32(str.Substring(str.Length - 3, 1), 16));
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Motor4SpeedPercent = Converter1_15to1_100(Convert.ToInt32(str.Substring(str.Length - 4, 1), 16));
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Motor5SpeedPercent = Converter1_15to1_100(Convert.ToInt32(str.Substring(str.Length - 5, 1), 16));
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Motor6SpeedPercent = Converter1_15to1_100(Convert.ToInt32(str.Substring(str.Length - 6, 1), 16));
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Motor7SpeedPercent = Converter1_15to1_100(Convert.ToInt32(str.Substring(str.Length - 7, 1), 16));
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Motor8SpeedPercent = Converter1_15to1_100(Convert.ToInt32(str.Substring(str.Length - 8, 1), 16));
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}
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}
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}
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