ConfigureDynamicPIDCommand.java

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package com.neuronrobotics.sdk.commands.bcs.pid.DyPID;
 
import com.neuronrobotics.sdk.common.BowlerAbstractCommand;
import com.neuronrobotics.sdk.common.BowlerMethod;
import com.neuronrobotics.sdk.dyio.DyIOChannelMode;
import com.neuronrobotics.sdk.dyio.dypid.DyPIDConfiguration;
 
// TODO: Auto-generated Javadoc
public class ConfigureDynamicPIDCommand extends BowlerAbstractCommand {
    
    public ConfigureDynamicPIDCommand(int group){
        setOpCode("dpid");
        setMethod(BowlerMethod.GET);
        getCallingDataStorage().add(group);
    }
    
    public ConfigureDynamicPIDCommand(char group,int inputChannel,DyIOChannelMode inputMode,int outputChannel,DyIOChannelMode outputMode) {
        setOpCode("dpid");
        setMethod(BowlerMethod.CRITICAL);
        getCallingDataStorage().add(group);
        getCallingDataStorage().add(inputChannel);
        getCallingDataStorage().add(inputMode.getValue());
        getCallingDataStorage().add(outputChannel);
        getCallingDataStorage().add(outputMode.getValue());
        
    }
    
    public ConfigureDynamicPIDCommand(DyPIDConfiguration config) {
        setOpCode("dpid");
        setMethod(BowlerMethod.CRITICAL);
        getCallingDataStorage().add(config.getGroup());
        getCallingDataStorage().add(config.getInputChannel());
        getCallingDataStorage().add(config.getInputMode().getValue());
        getCallingDataStorage().add(config.getOutputChannel());
        getCallingDataStorage().add(config.getOutputMode().getValue());
    }
}