public DifferentialControlLoopCoefficients getDifferentialControlLoopCoefficients(int motor) {
m57a(motor);
DifferentialControlLoopCoefficients differentialControlLoopCoefficients =
new DifferentialControlLoopCoefficients();
byte[] read =
read(
ADDRESS_MAX_DIFFERENTIAL_CONTROL_LOOP_COEFFICIENT_MAP[motor],
CHANNEL_MODE_MASK_SELECTION);
differentialControlLoopCoefficients.p = (double) read[0];
differentialControlLoopCoefficients.i = (double) read[MIN_MOTOR];
differentialControlLoopCoefficients.d = (double) read[MAX_MOTOR];
return differentialControlLoopCoefficients;
}
public void setDifferentialControlLoopCoefficients(
int motor, DifferentialControlLoopCoefficients pid) {
m57a(motor);
if (pid.p > 255.0d) {
pid.p = 255.0d;
}
if (pid.i > 255.0d) {
pid.i = 255.0d;
}
if (pid.d > 255.0d) {
pid.d = 255.0d;
}
int i = ADDRESS_MAX_DIFFERENTIAL_CONTROL_LOOP_COEFFICIENT_MAP[motor];
byte[] bArr = new byte[CHANNEL_MODE_MASK_SELECTION];
bArr[0] = (byte) ((int) pid.p);
bArr[MIN_MOTOR] = (byte) ((int) pid.i);
bArr[MAX_MOTOR] = (byte) ((int) pid.d);
write(i, bArr);
}