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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 181 | ligi | 1 | /********************************************************************************************************************************* |
| 2 | * * |
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| 3 | * class representing the DebugData Structure * |
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| 4 | * * |
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| 5 | * Author: Marcus -LiGi- Bueschleb * |
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| 6 | * Project-Start: 9/2007 * |
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| 7 | |||
| 8 | * Mailto: ligi@smart4mobile.de * |
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| 9 | * Licence: Creative Commons / Non Commercial * |
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| 10 | * Big Up: Holger&Ingo * |
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| 11 | *********************************************************************************************************************************/ |
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| 12 | |||
| 164 | ligi | 13 | public class MKDebugData |
| 14 | |||
| 15 | { |
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| 16 | |||
| 208 | ligi | 17 | public int[] analog; |
| 18 | public int motor_complete=-1; |
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| 19 | |||
| 164 | ligi | 20 | |
| 208 | ligi | 21 | private int i; |
| 22 | |||
| 23 | public int motor_val(int id) { return analog[12+id]; } |
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| 221 | ligi | 24 | public int nick_int() { return analog[1]; } |
| 25 | public int roll_int() { return analog[2]; } |
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| 26 | public int accnick() { return analog[3]; } |
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| 27 | public int accroll() { return analog[4]; } |
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| 208 | ligi | 28 | |
| 29 | |||
| 221 | ligi | 30 | |
| 208 | ligi | 31 | public MKDebugData() |
| 181 | ligi | 32 | { |
| 210 | ligi | 33 | analog=new int[32]; |
| 34 | for (i=0;i<32;i++) |
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| 181 | ligi | 35 | analog[i]=-1; |
| 36 | |||
| 37 | } |
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| 38 | |||
| 210 | ligi | 39 | public void set_by_mk_data(int[] in_arr,MKVersion version) |
| 164 | ligi | 40 | { |
| 41 | |||
| 210 | ligi | 42 | if (version.compare(-1,-1)==version.VERSION_EQUAL) |
| 43 | return; |
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| 208 | ligi | 44 | |
| 210 | ligi | 45 | if (version.compare(0,60)==version.VERSION_PREVIOUS) |
| 46 | { |
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| 47 | for (i=0;i<16;i++) |
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| 221 | ligi | 48 | { |
| 49 | analog[i]=(int)((in_arr[1+i*2]<<8) | in_arr[2+i*2]); |
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| 50 | if ((analog[i]&(2<<14))!=0) |
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| 51 | analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
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| 52 | } |
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| 210 | ligi | 53 | } |
| 54 | else |
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| 55 | { |
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| 56 | for (i=0;i<16;i++) |
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| 221 | ligi | 57 | { |
| 58 | analog[i]=(int)((in_arr[17+i*2]<<8) | in_arr[18+i*2]); |
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| 59 | if ((analog[i]&(2<<14))!=0) |
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| 60 | analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
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| 61 | } |
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| 210 | ligi | 62 | } |
| 164 | ligi | 63 | |
| 208 | ligi | 64 | motor_complete=motor_val(0)+motor_val(1)+motor_val(2)+motor_val(3); |
| 210 | ligi | 65 | |
| 66 | |||
| 164 | ligi | 67 | } |
| 68 | |||
| 69 | |||
| 210 | ligi | 70 | |
| 164 | ligi | 71 | } |