Robot.Coxa.GetMovement C# (CSharp) Method

        public override MovmentComandAX12 GetMovement()
        {
            short positon = 0;
            if (Side != Side.Right)
                positon = Convert(-(Angle + Offset));
            else
            {
                positon = Convert((IK.Rotate180Degrees(Angle) - Offset));
            }

            return new MovmentComandAX12((byte)ServoId, positon, CalculateSpeed());
        }