Rev 1541 | Rev 1566 | Go to most recent revision | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
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| 1541 | - | 1 | package dongfang.mkt.frames; |
| 2 | |||
| 3 | import java.io.IOException; |
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| 4 | |||
| 5 | |||
| 6 | /* |
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| 7 | uint8_t digital[2]; |
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| 8 | uint8_t remoteButtons; |
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| 9 | int8_t pitch; |
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| 10 | int8_t roll; |
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| 11 | int8_t yaw; |
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| 12 | uint8_t throttle; |
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| 13 | int8_t height; |
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| 14 | uint8_t free; |
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| 15 | uint8_t frame; |
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| 16 | uint8_t config; |
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| 17 | */ |
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| 18 | public class ExternalControlRequestFrame extends RequestFrame { |
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| 19 | public static final int COMMAND_NONE = 0; |
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| 20 | public static final int COMMAND_START = 6; |
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| 21 | public static final int COMMAND_STOP = 8; |
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| 22 | public static final int COMMAND_GYROCAL = 2; |
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| 23 | public static final int COMMAND_ACCCAL = 4; |
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| 24 | |||
| 25 | int[] digital = new int[2];// unsigned byte. |
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| 26 | int remoteButtons; // unsigned byte. |
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| 27 | int pitch; // signed byte. |
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| 28 | int roll; // signed byte. |
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| 29 | int yaw; // signed byte. |
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| 30 | int throttle; // unsigned byte. |
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| 31 | int height; // signed byte (!). |
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| 32 | int command; // unsigned byte. Called "free" in MK code. |
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| 33 | int frameNum; // unsigned byte. |
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| 34 | int argument; // unsigned byte. Called "config" in MK code. |
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| 35 | |||
| 36 | ExternalControlRequestFrame(int address) { |
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| 37 | super(address); |
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| 38 | } |
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| 39 | |||
| 40 | public int[] getDigital() { |
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| 41 | return digital; |
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| 42 | } |
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| 43 | |||
| 44 | public void setDigital(int[] digital) { |
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| 45 | this.digital = digital; |
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| 46 | } |
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| 47 | |||
| 48 | public int getRemoteButtons() { |
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| 49 | return remoteButtons; |
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| 50 | } |
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| 51 | |||
| 52 | public void setRemoteButtons(int remoteButtons) { |
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| 53 | this.remoteButtons = remoteButtons; |
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| 54 | } |
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| 55 | |||
| 56 | public int getPitch() { |
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| 57 | return pitch; |
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| 58 | } |
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| 59 | |||
| 60 | public void setPitch(int pitch) { |
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| 61 | this.pitch = pitch; |
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| 62 | } |
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| 63 | |||
| 64 | public int getRoll() { |
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| 65 | return roll; |
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| 66 | } |
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| 67 | |||
| 68 | public void setRoll(int roll) { |
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| 69 | this.roll = roll; |
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| 70 | } |
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| 71 | |||
| 72 | public int getYaw() { |
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| 73 | return yaw; |
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| 74 | } |
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| 75 | |||
| 76 | public void setYaw(int yaw) { |
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| 77 | this.yaw = yaw; |
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| 78 | } |
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| 79 | |||
| 80 | public int getThrottle() { |
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| 81 | return throttle; |
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| 82 | } |
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| 83 | |||
| 84 | public void setThrottle(int throttle) { |
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| 85 | this.throttle = throttle; |
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| 86 | } |
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| 87 | |||
| 88 | public int getHeight() { |
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| 89 | return height; |
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| 90 | } |
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| 91 | |||
| 92 | public void setHeight(int height) { |
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| 93 | this.height = height; |
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| 94 | } |
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| 95 | |||
| 96 | public int getCommand() { |
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| 97 | return command; |
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| 98 | } |
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| 99 | |||
| 100 | public void setCommand(int command) { |
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| 101 | this.command = command; |
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| 102 | } |
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| 103 | |||
| 104 | public int getFrameNum() { |
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| 105 | return frameNum; |
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| 106 | } |
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| 107 | |||
| 108 | public void setFrameNum(int frameNum) { |
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| 109 | this.frameNum = frameNum; |
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| 110 | } |
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| 111 | |||
| 112 | public int getArgument() { |
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| 113 | return argument; |
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| 114 | } |
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| 115 | |||
| 116 | public void setArgument(int argument) { |
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| 117 | this.argument = argument; |
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| 118 | } |
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| 119 | |||
| 120 | public void start() { |
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| 121 | command = COMMAND_START; |
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| 122 | } |
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| 123 | |||
| 124 | public void stop() { |
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| 125 | command = COMMAND_STOP; |
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| 126 | } |
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| 127 | |||
| 128 | public void gyroCal() { |
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| 129 | command = COMMAND_GYROCAL; |
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| 130 | } |
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| 131 | |||
| 132 | public void accCal() { |
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| 133 | command = COMMAND_ACCCAL; |
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| 134 | } |
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| 135 | |||
| 136 | @Override |
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| 137 | public void accept(RequestFrameVisitor o) throws IOException { |
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| 138 | o.visit(this); |
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| 139 | } |
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| 140 | } |