| 0,0 → 1,141 |
|---|
| package dongfang.mkt.frames; |
| |
| import java.io.IOException; |
| |
| import dongfang.mkt.RequestFrameVisitor; |
| |
| /* |
| uint8_t digital[2]; |
| uint8_t remoteButtons; |
| int8_t pitch; |
| int8_t roll; |
| int8_t yaw; |
| uint8_t throttle; |
| int8_t height; |
| uint8_t free; |
| uint8_t frame; |
| uint8_t config; |
| */ |
| public class ExternalControlRequestFrame extends RequestFrame { |
| public static final int COMMAND_NONE = 0; |
| public static final int COMMAND_START = 6; |
| public static final int COMMAND_STOP = 8; |
| public static final int COMMAND_GYROCAL = 2; |
| public static final int COMMAND_ACCCAL = 4; |
| |
| int[] digital = new int[2];// unsigned byte. |
| int remoteButtons; // unsigned byte. |
| int pitch; // signed byte. |
| int roll; // signed byte. |
| int yaw; // signed byte. |
| int throttle; // unsigned byte. |
| int height; // signed byte (!). |
| int command; // unsigned byte. Called "free" in MK code. |
| int frameNum; // unsigned byte. |
| int argument; // unsigned byte. Called "config" in MK code. |
| |
| ExternalControlRequestFrame(int address) { |
| super(address); |
| } |
| |
| public int[] getDigital() { |
| return digital; |
| } |
| |
| public void setDigital(int[] digital) { |
| this.digital = digital; |
| } |
| |
| public int getRemoteButtons() { |
| return remoteButtons; |
| } |
| |
| public void setRemoteButtons(int remoteButtons) { |
| this.remoteButtons = remoteButtons; |
| } |
| |
| public int getPitch() { |
| return pitch; |
| } |
| |
| public void setPitch(int pitch) { |
| this.pitch = pitch; |
| } |
| |
| public int getRoll() { |
| return roll; |
| } |
| |
| public void setRoll(int roll) { |
| this.roll = roll; |
| } |
| |
| public int getYaw() { |
| return yaw; |
| } |
| |
| public void setYaw(int yaw) { |
| this.yaw = yaw; |
| } |
| |
| public int getThrottle() { |
| return throttle; |
| } |
| |
| public void setThrottle(int throttle) { |
| this.throttle = throttle; |
| } |
| |
| public int getHeight() { |
| return height; |
| } |
| |
| public void setHeight(int height) { |
| this.height = height; |
| } |
| |
| public int getCommand() { |
| return command; |
| } |
| |
| public void setCommand(int command) { |
| this.command = command; |
| } |
| |
| public int getFrameNum() { |
| return frameNum; |
| } |
| |
| public void setFrameNum(int frameNum) { |
| this.frameNum = frameNum; |
| } |
| |
| public int getArgument() { |
| return argument; |
| } |
| |
| public void setArgument(int argument) { |
| this.argument = argument; |
| } |
| |
| public void start() { |
| command = COMMAND_START; |
| } |
| |
| public void stop() { |
| command = COMMAND_STOP; |
| } |
| |
| public void gyroCal() { |
| command = COMMAND_GYROCAL; |
| } |
| |
| public void accCal() { |
| command = COMMAND_ACCCAL; |
| } |
| |
| @Override |
| public void accept(RequestFrameVisitor o) throws IOException { |
| o.visit(this); |
| } |
| } |