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#include<Handler.h>
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#include<Handler.h>
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/**
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/**
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 * Constructor that gets a communication instance
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 * Constructor that gets a communication instance
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 */
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 */
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Handler::Handler(Communication * com) {
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Handler::Handler(Communication * com, KopterData * data) {
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    this->com = com;
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    this->com = com;
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    this->data = data;
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}
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}
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//-------------FlightCtrl commands--------------------
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//-------------FlightCtrl commands--------------------
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        tx_data[z] = motor.Speed[z];
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        tx_data[z] = motor.Speed[z];
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    }
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    }
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    com->send_cmd('t', ADDRESS_FC, tx_data, 12, false);
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    com->send_cmd('t', ADDRESS_FC, tx_data, 12, false);
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}
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}
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void Handler::reset_motor() {
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    sMotor motor;
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    for (int z = 0; z<12; z++)
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    {
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        motor.Speed[z] = 0;
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    }
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    motor_test(motor);
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}
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/**
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/**
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 * read mixer values from FlightCtrl
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 * read mixer values from FlightCtrl
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 */
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 */
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void Handler::read_mixer() {
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void Handler::read_motor_mixer() {
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    char tx_data[1] = {0};
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    char tx_data[1] = {0};
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    //com->log("read motor mixer");
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    //com->log("read motor mixer");
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    com->send_cmd('n', ADDRESS_FC, tx_data, 1, true);
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    com->send_cmd('n', ADDRESS_FC, tx_data, 1, true);
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}
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}
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/**
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/**
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 * write motor mixer values to FlightCtrl
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 * write motor mixer values to FlightCtrl
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 */
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 */
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void Handler::write_mixer(char * tx_data, int length) {
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void Handler::write_motor_mixer(char * tx_data, int length) {
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    com->send_cmd('m', ADDRESS_FC, tx_data, length, true);
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    com->send_cmd('m', ADDRESS_FC, tx_data, length, true);
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}
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}
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int Handler::get_motor_config(char * tx_data) {
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void Handler::get_motor_config() {
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    return -1;
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}
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}
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/**
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/**
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 * got to next LCD Page
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 * got to next LCD Page
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 */
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 */
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void Handler::lcd_up() {
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void Handler::lcd_up() {
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    char tx_data[2] = { 0, 0 };
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    char tx_data[2] = { 0, 0 };
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    if (lcd_cur != lcd_max)
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    if (data->lcd_cur != data->lcd_max)
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        tx_data[0] = lcd_cur+1;
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        tx_data[0] = data->lcd_cur+1;
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    com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true);
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    com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true);
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}
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}
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/**
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/**
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 * got to previous LCD Page
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 * got to previous LCD Page
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 */
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 */
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void Handler::lcd_down() {
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void Handler::lcd_down() {
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    char tx_data[2] = { 0, 0 };
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    char tx_data[2] = { 0, 0 };
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    if (lcd_cur != 0)
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    if (data->lcd_cur != 0)
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        tx_data[0] = lcd_cur-1;
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        tx_data[0] = data->lcd_cur-1;
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    com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true);
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    com->send_cmd('l', ADDRESS_ALL, tx_data, 1, true);
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}
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}
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