Rev 1688 | Details | Compare with Previous | Last modification | View Log | RSS feed
| Rev | Author | Line No. | Line |
|---|---|---|---|
| 1688 | - | 1 | package dongfang.mkt.frames; |
| 2 | |||
| 3 | public class ReadMotorMixerResponseFrame extends ResponseFrame { |
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| 1689 | - | 4 | private char[] name; |
| 1688 | - | 5 | private int[][] matrix; |
| 6 | // private int[] oppositeMotors; |
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| 7 | private int configurationVersion; |
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| 8 | private int dataLength; // not used really... |
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| 9 | |||
| 10 | public ReadMotorMixerResponseFrame() { |
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| 11 | super(FC_ADDRESS); |
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| 12 | } |
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| 13 | |||
| 1689 | - | 14 | public char[] getName() { |
| 15 | return name; |
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| 16 | } |
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| 17 | |||
| 18 | public void setName(char[] name) { |
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| 19 | this.name = name; |
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| 20 | } |
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| 21 | |||
| 1688 | - | 22 | @Override |
| 23 | public boolean isResponseTo(RequestFrame r) { |
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| 24 | return r instanceof ReadMotorMixerRequestFrame; |
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| 25 | } |
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| 26 | |||
| 27 | public int getConfigurationVersion() { |
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| 28 | return configurationVersion; |
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| 29 | } |
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| 30 | |||
| 31 | public void setConfigurationVersion(int configurationVersion) { |
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| 32 | this.configurationVersion = configurationVersion; |
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| 33 | } |
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| 34 | |||
| 35 | public int[][] getMatrix() { |
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| 36 | return matrix; |
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| 37 | } |
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| 38 | |||
| 39 | public void setMatrix(int[][] matrix) { |
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| 40 | this.matrix = matrix; |
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| 41 | } |
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| 42 | |||
| 43 | /* |
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| 44 | public int[] getOppositeMotors() { |
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| 45 | return oppositeMotors; |
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| 46 | } |
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| 47 | |||
| 48 | public void setOppositeMotors(int[] oppositeMotors) { |
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| 49 | this.oppositeMotors = oppositeMotors; |
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| 50 | } |
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| 51 | */ |
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| 52 | |||
| 53 | public int getDataLength() { |
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| 54 | return dataLength; |
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| 55 | } |
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| 56 | |||
| 57 | public void setDataLength(int dataLength) { |
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| 58 | this.dataLength = dataLength; |
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| 59 | } |
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| 60 | |||
| 61 | public String toString() { |
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| 62 | StringBuilder result = new StringBuilder(getClass().getSimpleName() + ": "); |
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| 63 | if (matrix != null) { |
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| 64 | for (int i=0; i<matrix.length; i++) { |
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| 65 | result.append(i + "->"); |
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| 66 | result.append("Pitch: " + matrix[i][0]); |
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| 67 | result.append("Roll: " + matrix[i][1]); |
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| 68 | result.append("Throttle: " + matrix[i][2]); |
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| 69 | result.append("Yaw: " + matrix[i][3]); |
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| 70 | result.append("Opposite motor: " + matrix[i][4]); |
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| 71 | if (i<matrix.length-1) result.append("\n"); |
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| 72 | } |
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| 73 | } |
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| 74 | return result.toString(); |
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| 75 | } |
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| 76 | } |
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| 77 |