Rev 1698 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1541 | - | 1 | package dongfang.mkt.frames; |
| 2 | |||
| 3 | import java.io.IOException; |
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| 4 | |||
| 1566 | - | 5 | import dongfang.mkt.RequestFrameVisitor; |
| 1541 | - | 6 | |
| 7 | public class ExternalControlRequestFrame extends RequestFrame { |
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| 8 | public static final int COMMAND_NONE = 0; |
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| 1699 | - | 9 | public static final int COMMAND_GYROCAL = 1; |
| 10 | public static final int COMMAND_ACCCAL = 2; |
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| 11 | public static final int COMMAND_GYRO_ACC_CAL = 3; |
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| 12 | public static final int COMMAND_STOP = 10; |
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| 13 | public static final int COMMAND_START = 11; |
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| 1541 | - | 14 | |
| 15 | int[] digital = new int[2];// unsigned byte. |
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| 16 | int remoteButtons; // unsigned byte. |
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| 17 | int pitch; // signed byte. |
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| 18 | int roll; // signed byte. |
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| 19 | int yaw; // signed byte. |
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| 20 | int throttle; // unsigned byte. |
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| 21 | int height; // signed byte (!). |
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| 22 | int command; // unsigned byte. Called "free" in MK code. |
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| 23 | int frameNum; // unsigned byte. |
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| 24 | int argument; // unsigned byte. Called "config" in MK code. |
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| 25 | |||
| 1698 | - | 26 | public ExternalControlRequestFrame() { |
| 27 | super(FC_ADDRESS); |
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| 1541 | - | 28 | } |
| 29 | |||
| 30 | public int[] getDigital() { |
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| 31 | return digital; |
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| 32 | } |
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| 33 | |||
| 34 | public void setDigital(int[] digital) { |
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| 35 | this.digital = digital; |
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| 36 | } |
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| 37 | |||
| 38 | public int getRemoteButtons() { |
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| 39 | return remoteButtons; |
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| 40 | } |
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| 41 | |||
| 42 | public void setRemoteButtons(int remoteButtons) { |
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| 43 | this.remoteButtons = remoteButtons; |
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| 44 | } |
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| 45 | |||
| 46 | public int getPitch() { |
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| 47 | return pitch; |
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| 48 | } |
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| 49 | |||
| 50 | public void setPitch(int pitch) { |
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| 51 | this.pitch = pitch; |
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| 52 | } |
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| 53 | |||
| 54 | public int getRoll() { |
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| 55 | return roll; |
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| 56 | } |
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| 57 | |||
| 58 | public void setRoll(int roll) { |
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| 59 | this.roll = roll; |
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| 60 | } |
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| 61 | |||
| 62 | public int getYaw() { |
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| 63 | return yaw; |
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| 64 | } |
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| 65 | |||
| 66 | public void setYaw(int yaw) { |
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| 67 | this.yaw = yaw; |
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| 68 | } |
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| 69 | |||
| 70 | public int getThrottle() { |
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| 71 | return throttle; |
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| 72 | } |
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| 73 | |||
| 74 | public void setThrottle(int throttle) { |
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| 75 | this.throttle = throttle; |
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| 76 | } |
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| 77 | |||
| 78 | public int getHeight() { |
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| 79 | return height; |
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| 80 | } |
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| 81 | |||
| 82 | public void setHeight(int height) { |
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| 83 | this.height = height; |
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| 84 | } |
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| 85 | |||
| 86 | public int getCommand() { |
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| 87 | return command; |
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| 88 | } |
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| 89 | |||
| 90 | public void setCommand(int command) { |
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| 91 | this.command = command; |
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| 92 | } |
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| 93 | |||
| 94 | public int getFrameNum() { |
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| 95 | return frameNum; |
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| 96 | } |
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| 97 | |||
| 98 | public void setFrameNum(int frameNum) { |
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| 99 | this.frameNum = frameNum; |
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| 100 | } |
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| 101 | |||
| 102 | public int getArgument() { |
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| 103 | return argument; |
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| 104 | } |
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| 105 | |||
| 106 | public void setArgument(int argument) { |
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| 107 | this.argument = argument; |
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| 108 | } |
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| 109 | |||
| 110 | public void start() { |
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| 111 | command = COMMAND_START; |
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| 112 | } |
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| 113 | |||
| 114 | public void stop() { |
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| 115 | command = COMMAND_STOP; |
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| 116 | } |
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| 117 | |||
| 118 | public void gyroCal() { |
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| 119 | command = COMMAND_GYROCAL; |
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| 120 | } |
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| 121 | |||
| 122 | public void accCal() { |
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| 123 | command = COMMAND_ACCCAL; |
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| 124 | } |
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| 125 | |||
| 126 | @Override |
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| 127 | public void accept(RequestFrameVisitor o) throws IOException { |
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| 128 | o.visit(this); |
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| 129 | } |
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| 130 | } |