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