Rev 2233 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 2233 | - | 1 | using System; |
| 2 | using System.Collections.Generic; |
||
| 3 | using System.Linq; |
||
| 4 | using System.Text; |
||
| 5 | using System.Diagnostics; |
||
| 6 | |||
| 7 | namespace MKLiveView |
||
| 8 | { |
||
| 9 | class ExternControl |
||
| 10 | { |
||
| 11 | byte digital0; |
||
| 12 | byte digital1; |
||
| 13 | byte remoteVisualization; |
||
| 14 | sbyte pitch; |
||
| 15 | sbyte yaw; |
||
| 16 | sbyte roll; |
||
| 17 | byte throttle; |
||
| 18 | sbyte high; // affects the pressure sensor according to the MoteCtrl project comments |
||
| 19 | byte unused; // free unused byte |
||
| 20 | byte frameConfirmation; // confimation |
||
| 21 | byte config; // set to 1 to signal new command |
||
| 22 | |||
| 23 | public ExternControl(byte[] data) |
||
| 24 | { |
||
| 25 | Bytes = data; |
||
| 26 | } |
||
| 27 | |||
| 28 | public ExternControl(sbyte yaw, sbyte pitch, sbyte roll, byte throttle) |
||
| 29 | { |
||
| 30 | digital0 = 0; |
||
| 31 | digital1 = 0; |
||
| 32 | remoteVisualization = 0; |
||
| 33 | this.pitch = pitch; |
||
| 34 | this.roll = roll; |
||
| 35 | this.yaw = yaw; |
||
| 36 | this.throttle = throttle; |
||
| 37 | high = 0; |
||
| 38 | unused = 0; |
||
| 39 | frameConfirmation = 0; |
||
| 40 | config = 1; |
||
| 41 | } |
||
| 42 | |||
| 43 | public sbyte Pitch |
||
| 44 | { |
||
| 45 | get { return pitch; } |
||
| 46 | set { pitch = value; } |
||
| 47 | } |
||
| 48 | |||
| 49 | public sbyte Roll |
||
| 50 | { |
||
| 51 | get { return roll; } |
||
| 52 | set { roll = value; } |
||
| 53 | } |
||
| 54 | |||
| 55 | public sbyte Yaw |
||
| 56 | { |
||
| 57 | get { return yaw; } |
||
| 58 | set { yaw = value; } |
||
| 59 | } |
||
| 60 | |||
| 61 | public byte Throttle |
||
| 62 | { |
||
| 63 | get { return throttle; } |
||
| 64 | set { throttle = value; } |
||
| 65 | } |
||
| 66 | |||
| 67 | public byte[] Bytes |
||
| 68 | { |
||
| 69 | get |
||
| 70 | { |
||
| 71 | byte[] data = new byte[11]; |
||
| 72 | |||
| 73 | data[0] = digital0; |
||
| 74 | data[1] = digital1; |
||
| 75 | data[2] = remoteVisualization; |
||
| 76 | data[3] = (byte)pitch; |
||
| 77 | data[4] = (byte)roll; |
||
| 78 | data[5] = (byte)yaw; |
||
| 79 | data[6] = throttle; |
||
| 80 | data[7] = (byte)high; |
||
| 81 | data[8] = unused; |
||
| 82 | data[9] = frameConfirmation; |
||
| 83 | data[10] = config; |
||
| 84 | |||
| 85 | return data; |
||
| 86 | } |
||
| 87 | set |
||
| 88 | { |
||
| 89 | Debug.Assert(value.Length >= 11); |
||
| 90 | |||
| 91 | digital0 = value[0]; |
||
| 92 | digital1 = value[1]; |
||
| 93 | remoteVisualization = value[2]; |
||
| 94 | pitch = (sbyte)value[3]; |
||
| 95 | roll = (sbyte)value[4]; |
||
| 96 | yaw = (sbyte)value[5]; |
||
| 97 | throttle = value[6]; |
||
| 98 | high = (sbyte)value[7]; |
||
| 99 | unused = value[8]; |
||
| 100 | frameConfirmation = value[9]; |
||
| 101 | config = value[10]; |
||
| 102 | } |
||
| 103 | } |
||
| 104 | } |
||
| 105 | } |