Rev 31 | Show entire file | Ignore whitespace | Details | Blame | Last modification | View Log | RSS feed
Rev 31 | Rev 77 | ||
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Line 19... | Line 19... | ||
19 | 19 | ||
Line 20... | Line 20... | ||
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]; } |
Line 25... | Line 25... | ||
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]; } |
Line 67... | Line 67... | ||
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 | } |