0,0 → 1,51 |
package dongfang.mkt.frames; |
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import java.io.IOException; |
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import dongfang.mkt.RequestFrameVisitor; |
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public class WriteMotorMixerRequestFrame extends RequestFrame { |
private int[][] matrix; |
// private int[] oppositeMotors; |
private int motorMixerVersionNumber; |
private int configurationVersion; |
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public WriteMotorMixerRequestFrame(int motorMixerVersionNumber, int[][] matrix /*, int[] oppositeMotors*/) { |
super(FC_ADDRESS); |
this.motorMixerVersionNumber = motorMixerVersionNumber; |
this.matrix = matrix; |
// this.oppositeMotors = oppositeMotors; |
} |
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@Override |
public void accept(RequestFrameVisitor o) throws IOException { |
o.visit(this); |
} |
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public int getMotorMixerVersionNumber() { |
return motorMixerVersionNumber; |
} |
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public int[][] getMatrix() { |
return matrix; |
} |
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/* |
public int[] getOppositeMotors() { |
return oppositeMotors; |
} |
*/ |
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public int getConfigurationVersion() { |
return configurationVersion; |
} |
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public void setConfigurationVersion(int configurationVersion) { |
this.configurationVersion = configurationVersion; |
} |
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public int getDataLength() { |
return matrix.length * 5; // return matrix.length * 4 + oppositeMotors.length;*/ |
} |
} |