| 0,0 → 1,105 |
|---|
| using System; |
| using System.Collections.Generic; |
| using System.Linq; |
| using System.Text; |
| using System.Diagnostics; |
| |
| namespace MKLiveView |
| { |
| class ExternControl |
| { |
| byte digital0; |
| byte digital1; |
| byte remoteVisualization; |
| sbyte pitch; |
| sbyte yaw; |
| sbyte roll; |
| byte throttle; |
| sbyte high; // affects the pressure sensor according to the MoteCtrl project comments |
| byte unused; // free unused byte |
| byte frameConfirmation; // confimation |
| byte config; // set to 1 to signal new command |
| |
| public ExternControl(byte[] data) |
| { |
| Bytes = data; |
| } |
| |
| public ExternControl(sbyte yaw, sbyte pitch, sbyte roll, byte throttle) |
| { |
| digital0 = 0; |
| digital1 = 0; |
| remoteVisualization = 0; |
| this.pitch = pitch; |
| this.roll = roll; |
| this.yaw = yaw; |
| this.throttle = throttle; |
| high = 0; |
| unused = 0; |
| frameConfirmation = 0; |
| config = 1; |
| } |
| |
| public sbyte Pitch |
| { |
| get { return pitch; } |
| set { pitch = value; } |
| } |
| |
| public sbyte Roll |
| { |
| get { return roll; } |
| set { roll = value; } |
| } |
| |
| public sbyte Yaw |
| { |
| get { return yaw; } |
| set { yaw = value; } |
| } |
| |
| public byte Throttle |
| { |
| get { return throttle; } |
| set { throttle = value; } |
| } |
| |
| public byte[] Bytes |
| { |
| get |
| { |
| byte[] data = new byte[11]; |
| |
| data[0] = digital0; |
| data[1] = digital1; |
| data[2] = remoteVisualization; |
| data[3] = (byte)pitch; |
| data[4] = (byte)roll; |
| data[5] = (byte)yaw; |
| data[6] = throttle; |
| data[7] = (byte)high; |
| data[8] = unused; |
| data[9] = frameConfirmation; |
| data[10] = config; |
| |
| return data; |
| } |
| set |
| { |
| Debug.Assert(value.Length >= 11); |
| |
| digital0 = value[0]; |
| digital1 = value[1]; |
| remoteVisualization = value[2]; |
| pitch = (sbyte)value[3]; |
| roll = (sbyte)value[4]; |
| yaw = (sbyte)value[5]; |
| throttle = value[6]; |
| high = (sbyte)value[7]; |
| unused = value[8]; |
| frameConfirmation = value[9]; |
| config = value[10]; |
| } |
| } |
| } |
| } |