61,16 → 61,25 |
names[id]+=":"; |
} |
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public int parse_signed_int_2(int i1,int i2) |
{ |
int res=(int)((i2<<8)|i1); |
if ((res&(1<<15))!=0) |
return -(res&(0xFFFF-1))^(0xFFFF-1); |
else |
return res; |
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} |
public void set_by_mk_data(int[] in_arr,MKVersion version) |
{ |
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for (i=0;i<32;i++) |
{ |
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analog[i]=(int)((in_arr[3+i*2]<<8) | in_arr[2+i*2]); |
if ((analog[i]&(1<<15))!=0) |
analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
} |
// { |
analog[i]=parse_signed_int_2( in_arr[2+i*2], in_arr[3+i*2] ); |
//(int)((in_arr[3+i*2]<<8) | in_arr[2+i*2]); |
// if ((analog[i]&(1<<15))!=0) |
//analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
// } |
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motor_complete=motor_val(0)+motor_val(1)+motor_val(2)+motor_val(3); |
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