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| Rev | Author | Line No. | Line |
|---|---|---|---|
| 92 | 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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| 10 | |||
| 11 | package org.ligi; |
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| 12 | |||
| 13 | public class MKDebugData |
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| 14 | |||
| 15 | { |
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| 16 | |||
| 17 | public int[] analog; |
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| 18 | public String[] names; |
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| 19 | public boolean[] got_name; |
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| 20 | public int motor_complete=-1; |
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| 21 | |||
| 22 | |||
| 23 | private int i; |
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| 24 | |||
| 25 | public int motor_val(int id) { return analog[12+id]; } |
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| 26 | public int nick_int() { return analog[0]; } |
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| 27 | public int roll_int() { return analog[1]; } |
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| 28 | public int accnick() { return analog[2]; } |
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| 29 | public int accroll() { return analog[3]; } |
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| 30 | |||
| 31 | |||
| 32 | public int UBatt() { return analog[9]; } |
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| 33 | public int SenderOkay() { return analog[10]; } |
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| 34 | |||
| 35 | |||
| 36 | |||
| 37 | |||
| 38 | public MKDebugData() |
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| 39 | { |
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| 40 | names=new String[32]; |
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| 41 | analog=new int[32]; |
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| 42 | got_name=new boolean[32]; |
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| 43 | for (i=0;i<32;i++) |
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| 44 | { |
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| 45 | analog[i]=-1; |
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| 46 | names[i]="-#"+i+"->"; |
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| 47 | got_name[i]=false; |
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| 48 | } |
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| 49 | |||
| 50 | } |
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| 51 | |||
| 52 | public void set_names_by_mk_data(int id,int[] in_arr) |
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| 53 | { |
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| 54 | names[id]=""; |
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| 55 | for (i=0;i<16;i++) |
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| 56 | { |
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| 57 | if ((char)in_arr[i]!=' ') |
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| 58 | names[id]+=(char)in_arr[i]; |
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| 59 | got_name[id]=true; |
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| 60 | } |
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| 61 | names[id]+=":"; |
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| 62 | } |
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| 63 | |||
| 64 | public void set_by_mk_data(int[] in_arr,MKVersion version) |
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| 65 | { |
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| 66 | |||
| 67 | if (version.compare(-1,-1)==version.VERSION_EQUAL) |
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| 68 | return; |
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| 69 | |||
| 70 | if (version.compare(0,60)==version.VERSION_PREVIOUS) |
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| 71 | { |
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| 72 | for (i=0;i<32;i++) |
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| 73 | { |
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| 74 | //analog[i]=(int)((in_arr[1+i*2]<<8) | in_arr[2+i*2]); |
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| 75 | analog[i]=(int)((in_arr[3+i*2]<<8) | in_arr[2+i*2]); |
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| 76 | if ((analog[i]&(1<<15))!=0) |
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| 77 | analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
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| 78 | } |
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| 79 | } |
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| 80 | else |
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| 81 | { |
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| 82 | for (i=0;i<16;i++) |
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| 83 | { |
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| 84 | analog[i]=(int)((in_arr[17+i*2]<<8) | in_arr[18+i*2]); |
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| 85 | if ((analog[i]&(1<<15))!=0) |
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| 86 | analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
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| 87 | } |
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| 88 | } |
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| 89 | |||
| 90 | motor_complete=motor_val(0)+motor_val(1)+motor_val(2)+motor_val(3); |
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| 91 | |||
| 92 | |||
| 93 | } |
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| 94 | |||
| 95 | |||
| 96 | |||
| 97 | } |