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1 | /********************************************* |
1 | /********************************************* |
2 | * |
2 | * |
3 | * class representing the DebugData Structure |
3 | * class representing the DebugData Structure |
4 | * |
4 | * |
5 | * Author: Marcus -LiGi- Bueschleb |
5 | * Author: Marcus -LiGi- Bueschleb |
6 | * |
6 | * |
7 | * see README for further Infos |
7 | * see README for further Infos |
8 | * |
8 | * |
9 | ********************************************/ |
9 | ********************************************/ |
10 | 10 | ||
11 | public class MKDebugData |
11 | public class MKDebugData |
12 | 12 | ||
13 | { |
13 | { |
14 | 14 | ||
15 | public int[] analog; |
15 | public int[] analog; |
16 | public String[] names; |
16 | public String[] names; |
17 | public boolean[] got_name; |
17 | public boolean[] got_name; |
18 | public int motor_complete=-1; |
18 | public int motor_complete=-1; |
19 | 19 | ||
20 | 20 | ||
21 | private int i; |
21 | private int i; |
22 | 22 | ||
23 | public int motor_val(int id) { return analog[12+id]; } |
23 | public int motor_val(int id) { return analog[12+id]; } |
24 | public int nick_int() { return analog[1]; } |
24 | public int nick_int() { return analog[0]; } |
25 | public int roll_int() { return analog[2]; } |
25 | public int roll_int() { return analog[1]; } |
26 | public int accnick() { return analog[3]; } |
26 | public int accnick() { return analog[2]; } |
27 | public int accroll() { return analog[4]; } |
27 | public int accroll() { return analog[3]; } |
28 | 28 | ||
29 | 29 | ||
30 | public int UBatt() { return analog[9]; } |
30 | public int UBatt() { return analog[9]; } |
31 | public int SenderOkay() { return analog[10]; } |
31 | public int SenderOkay() { return analog[10]; } |
32 | 32 | ||
33 | 33 | ||
34 | 34 | ||
35 | 35 | ||
36 | public MKDebugData() |
36 | public MKDebugData() |
37 | { |
37 | { |
38 | names=new String[32]; |
38 | names=new String[32]; |
39 | analog=new int[32]; |
39 | analog=new int[32]; |
40 | got_name=new boolean[32]; |
40 | got_name=new boolean[32]; |
41 | for (i=0;i<32;i++) |
41 | for (i=0;i<32;i++) |
42 | { |
42 | { |
43 | analog[i]=-1; |
43 | analog[i]=-1; |
44 | names[i]="-#"+i+"->"; |
44 | names[i]="-#"+i+"->"; |
45 | got_name[i]=false; |
45 | got_name[i]=false; |
46 | } |
46 | } |
47 | 47 | ||
48 | } |
48 | } |
49 | 49 | ||
50 | public void set_names_by_mk_data(int id,int[] in_arr) |
50 | public void set_names_by_mk_data(int id,int[] in_arr) |
51 | { |
51 | { |
52 | names[id]=""; |
52 | names[id]=""; |
53 | for (i=0;i<16;i++) |
53 | for (i=0;i<16;i++) |
54 | { |
54 | { |
55 | if ((char)in_arr[i]!=' ') |
55 | if ((char)in_arr[i]!=' ') |
56 | names[id]+=(char)in_arr[i]; |
56 | names[id]+=(char)in_arr[i]; |
57 | got_name[id]=true; |
57 | got_name[id]=true; |
58 | } |
58 | } |
59 | names[id]+=":"; |
59 | names[id]+=":"; |
60 | } |
60 | } |
61 | 61 | ||
62 | public void set_by_mk_data(int[] in_arr,MKVersion version) |
62 | public void set_by_mk_data(int[] in_arr,MKVersion version) |
63 | { |
63 | { |
64 | 64 | ||
65 | if (version.compare(-1,-1)==version.VERSION_EQUAL) |
65 | if (version.compare(-1,-1)==version.VERSION_EQUAL) |
66 | return; |
66 | return; |
67 | 67 | ||
68 | if (version.compare(0,60)==version.VERSION_PREVIOUS) |
68 | if (version.compare(0,60)==version.VERSION_PREVIOUS) |
69 | { |
69 | { |
70 | for (i=0;i<32;i++) |
70 | for (i=0;i<32;i++) |
71 | { |
71 | { |
- | 72 | //analog[i]=(int)((in_arr[1+i*2]<<8) | in_arr[2+i*2]); |
|
72 | analog[i]=(int)((in_arr[1+i*2]<<8) | in_arr[2+i*2]); |
73 | analog[i]=(int)((in_arr[3+i*2]<<8) | in_arr[2+i*2]); |
73 | if ((analog[i]&(1<<15))!=0) |
74 | if ((analog[i]&(1<<15))!=0) |
74 | analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
75 | analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
75 | } |
76 | } |
76 | } |
77 | } |
77 | else |
78 | else |
78 | { |
79 | { |
79 | for (i=0;i<16;i++) |
80 | for (i=0;i<16;i++) |
80 | { |
81 | { |
81 | analog[i]=(int)((in_arr[17+i*2]<<8) | in_arr[18+i*2]); |
82 | analog[i]=(int)((in_arr[17+i*2]<<8) | in_arr[18+i*2]); |
82 | if ((analog[i]&(1<<15))!=0) |
83 | if ((analog[i]&(1<<15))!=0) |
83 | analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
84 | analog[i]=-(analog[i]&(0xFFFF-1))^(0xFFFF-1); |
84 | } |
85 | } |
85 | } |
86 | } |
86 | 87 | ||
87 | motor_complete=motor_val(0)+motor_val(1)+motor_val(2)+motor_val(3); |
88 | motor_complete=motor_val(0)+motor_val(1)+motor_val(2)+motor_val(3); |
88 | 89 | ||
89 | 90 | ||
90 | } |
91 | } |
91 | 92 | ||
92 | 93 | ||
93 | 94 | ||
94 | } |
95 | } |
95 | 96 |