39,6 → 39,11 |
inbuf[inbufptr++] = b; |
} |
|
void writeSignedByte(int b) throws IOException { |
if (b<0) b+= 256; |
writeByte(b); |
} |
|
public void writeBytes(int[] bs) throws IOException { |
for (int i=0; i<bs.length; i++) |
writeByte(bs[i]); |
171,13 → 176,16 |
|
public void visit(WriteMotorMixerRequestFrame f) throws IOException { |
writeByte('m'); |
writeByte(f.getConfigurationVersion()); |
writeByte(f.getDataLength()); |
base64OutputStream.writeByte(f.getMotorMixerVersionNumber()); |
base64OutputStream.writeByte(f.getDataLength()); |
base64OutputStream.writeChars(f.getName()); |
for(int i=0; i<f.getMatrix().length; i++) { |
int[] row = f.getMatrix()[i]; |
for(int j=0; j<row.length; j++) { |
base64OutputStream.writeByte(row[j]); |
base64OutputStream.writeSignedByte(row[j]); |
//System.out.print(row[j] + " "); |
} |
//System.out.println(); |
} |
/* |
for(int i=0; i<f.getOppositeMotors().length; i++) { |