Rev 1688 | Only display areas with differences | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 1688 | Rev 1689 | ||
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1 | package dongfang.mkt.frames; |
1 | package dongfang.mkt.frames; |
2 | 2 | ||
3 | import java.io.IOException; |
3 | import java.io.IOException; |
4 | 4 | ||
5 | import dongfang.mkt.RequestFrameVisitor; |
5 | import dongfang.mkt.RequestFrameVisitor; |
6 | 6 | ||
7 | 7 | ||
8 | public class WriteMotorMixerRequestFrame extends RequestFrame { |
8 | public class WriteMotorMixerRequestFrame extends RequestFrame { |
- | 9 | private char[] name; |
|
9 | private int[][] matrix; |
10 | private int[][] matrix; |
10 | // private int[] oppositeMotors; |
11 | // private int[] oppositeMotors; |
11 | private int motorMixerVersionNumber; |
12 | private int motorMixerVersionNumber; |
12 | private int configurationVersion; |
- | |
13 | 13 | ||
14 | public WriteMotorMixerRequestFrame(int motorMixerVersionNumber, int[][] matrix /*, int[] oppositeMotors*/) { |
14 | public WriteMotorMixerRequestFrame(int motorMixerVersionNumber, char[] name, int[][] matrix /*, int[] oppositeMotors*/) { |
15 | super(FC_ADDRESS); |
15 | super(FC_ADDRESS); |
- | 16 | this.motorMixerVersionNumber = motorMixerVersionNumber; |
|
16 | this.motorMixerVersionNumber = motorMixerVersionNumber; |
17 | this.name = name; |
17 | this.matrix = matrix; |
18 | this.matrix = matrix; |
18 | // this.oppositeMotors = oppositeMotors; |
19 | // this.oppositeMotors = oppositeMotors; |
19 | } |
20 | } |
20 | 21 | ||
21 | @Override |
22 | @Override |
22 | public void accept(RequestFrameVisitor o) throws IOException { |
23 | public void accept(RequestFrameVisitor o) throws IOException { |
23 | o.visit(this); |
24 | o.visit(this); |
24 | } |
25 | } |
25 | 26 | ||
26 | public int getMotorMixerVersionNumber() { |
27 | public int getMotorMixerVersionNumber() { |
27 | return motorMixerVersionNumber; |
28 | return motorMixerVersionNumber; |
28 | } |
29 | } |
- | 30 | ||
- | 31 | public void setMotorMixerVersionNumber(int motorMixerVersionNumber) { |
|
- | 32 | this.motorMixerVersionNumber = motorMixerVersionNumber; |
|
- | 33 | } |
|
- | 34 | ||
- | 35 | public char[] getName() { |
|
- | 36 | return name; |
|
- | 37 | } |
|
- | 38 | ||
- | 39 | public void setName(char[] name) { |
|
- | 40 | this.name = name; |
|
- | 41 | } |
|
29 | 42 | ||
30 | public int[][] getMatrix() { |
43 | public int[][] getMatrix() { |
31 | return matrix; |
44 | return matrix; |
32 | } |
45 | } |
33 | 46 | ||
34 | /* |
47 | /* |
35 | public int[] getOppositeMotors() { |
48 | public int[] getOppositeMotors() { |
36 | return oppositeMotors; |
49 | return oppositeMotors; |
37 | } |
50 | } |
38 | */ |
51 | */ |
39 | - | ||
40 | public int getConfigurationVersion() { |
- | |
41 | return configurationVersion; |
- | |
42 | } |
- | |
43 | - | ||
44 | public void setConfigurationVersion(int configurationVersion) { |
- | |
45 | this.configurationVersion = configurationVersion; |
- | |
46 | } |
- | |
47 | 52 | ||
48 | public int getDataLength() { |
53 | public int getDataLength() { |
49 | return matrix.length * 5; // return matrix.length * 4 + oppositeMotors.length;*/ |
54 | return 12 + matrix.length * 5; // return matrix.length * 4 + oppositeMotors.length;*/ |
50 | } |
55 | } |
51 | } |
56 | } |
52 | 57 |