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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 403 | 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 | * |
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| 7 | * see README for further Infos |
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| 8 | * |
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| 9 | ********************************************/ |
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| 181 | ligi | 10 | |
| 164 | ligi | 11 | public class MKDebugData |
| 12 | |||
| 13 | { |
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| 14 | |||
| 208 | ligi | 15 | public int[] analog; |
| 16 | public int motor_complete=-1; |
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| 17 | |||
| 164 | ligi | 18 | |
| 208 | ligi | 19 | private int i; |
| 20 | |||
| 21 | public int motor_val(int id) { return analog[12+id]; } |
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| 221 | ligi | 22 | public int nick_int() { return analog[1]; } |
| 23 | public int roll_int() { return analog[2]; } |
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| 24 | public int accnick() { return analog[3]; } |
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| 25 | public int accroll() { return analog[4]; } |
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| 208 | ligi | 26 | |
| 27 | |||
| 475 | ligi | 28 | public int UBatt() { return analog[9]; } |
| 29 | public int SenderOkay() { return analog[10]; } |
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| 221 | ligi | 30 | |
| 475 | ligi | 31 | |
| 32 | |||
| 33 | |||
| 208 | ligi | 34 | public MKDebugData() |
| 181 | ligi | 35 | { |
| 210 | ligi | 36 | analog=new int[32]; |
| 37 | for (i=0;i<32;i++) |
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| 181 | ligi | 38 | analog[i]=-1; |
| 39 | |||
| 40 | } |
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| 41 | |||
| 210 | ligi | 42 | public void set_by_mk_data(int[] in_arr,MKVersion version) |
| 164 | ligi | 43 | { |
| 44 | |||
| 210 | ligi | 45 | if (version.compare(-1,-1)==version.VERSION_EQUAL) |
| 46 | return; |
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| 208 | ligi | 47 | |
| 210 | ligi | 48 | if (version.compare(0,60)==version.VERSION_PREVIOUS) |
| 49 | { |
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| 475 | ligi | 50 | for (i=0;i<32;i++) |
| 221 | ligi | 51 | { |
| 52 | analog[i]=(int)((in_arr[1+i*2]<<8) | in_arr[2+i*2]); |
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| 53 | if ((analog[i]&(2<<14))!=0) |
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| 54 | analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
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| 55 | } |
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| 210 | ligi | 56 | } |
| 57 | else |
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| 58 | { |
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| 59 | for (i=0;i<16;i++) |
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| 221 | ligi | 60 | { |
| 61 | analog[i]=(int)((in_arr[17+i*2]<<8) | in_arr[18+i*2]); |
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| 62 | if ((analog[i]&(2<<14))!=0) |
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| 63 | analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
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| 64 | } |
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| 210 | ligi | 65 | } |
| 164 | ligi | 66 | |
| 208 | ligi | 67 | motor_complete=motor_val(0)+motor_val(1)+motor_val(2)+motor_val(3); |
| 210 | ligi | 68 | |
| 69 | |||
| 164 | ligi | 70 | } |
| 71 | |||
| 72 | |||
| 210 | ligi | 73 | |
| 164 | ligi | 74 | } |