43 if (std::isnan(speed_)) {
44 AWARN <<
"speed is nan";
47 uint32_t speed_direction = 0;
48 if (fabs(speed_) < 0.02) {
50 }
else if (speed_ < 0) {
55 uint32_t speed_value =
static_cast<uint32_t
>(fabs(speed_) / 0.02);
56 Byte frame_speed_direction(data);
58 static_cast<unsigned char>((speed_direction << 6) & 0x00C0) |
59 static_cast<unsigned char>((speed_value & 0x1F00) >> 8),
61 Byte frame_speed(data + 1);
62 frame_speed.
set_value(
static_cast<unsigned char>(speed_value & 0x00FF), 0, 8);