CreateSensors.java

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/*******************************************************************************
 * Copyright 2010 Neuron Robotics, LLC
 * Licensed under the Apache License, Version 2.0 (the "License");
 * you may not use this file except in compliance with the License.
 * You may obtain a copy of the License at
 * 
 *   http://www.apache.org/licenses/LICENSE-2.0
 * 
 * Unless required by applicable law or agreed to in writing, software
 * distributed under the License is distributed on an "AS IS" BASIS,
 * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
 * See the License for the specific language governing permissions and
 * limitations under the License.
 ******************************************************************************/
package com.neuronrobotics.sdk.addons.irobot;
 
import com.neuronrobotics.sdk.common.ByteList;
 
// TODO: Auto-generated Javadoc
public class CreateSensors {
    
    public boolean rightBump=false;
    
    public boolean leftBump=false;
    
    public boolean rightDrop=false;
    
    public boolean leftDrop=false;
    
    public boolean centerDrop=false;
    
    public boolean wall=false;
    
    public boolean clifFrontLeft=false;
    
    public boolean clifFrontRight=false;
    
    public boolean clifLeft=false;
    
    public boolean clifRight=false;
    
    public boolean vitrualWall=false;
    
    public short distance=0;
    
    public short angle=0;
    
    public int tempreture=0;
    
    public int charge=0;
    
    public int capacity=0;
    
    public float voltage=0;
    
    byte [] data;
    
    public CreateSensors(byte [] packet){
        data=packet;
        bumps(data[0]);
        clifLeft = data[1]==1;
        clifFrontLeft = data[2]==1;
        clifFrontRight = data[3]==1;
        clifRight = data[4]==1;
        vitrualWall = data[5]==1;
        distance = (short) ((((short)data[12])<<8)+data[13]);
        angle = (short) ((((short)data[14])<<8)+data[15]);
        voltage = (float) ((((int)data[17])<<8)+data[18])/1000;
        tempreture=(char) data[21];
        charge = (int) ((((int)data[22])<<8)+data[23]);
        capacity = (int) ((((int)data[24])<<8)+data[25]);
    }
    
    private void bumps(byte data){
        rightBump=(data&0x01)>0;
        leftBump=(data&0x02)>0;
        rightDrop=(data&0x04)>0;
        leftDrop=(data&0x08)>0;
        centerDrop=(data&0x10)>0;
    }
    
    /* (non-Javadoc)
     * @see java.lang.Object#toString()
     */
    public String toString(){
        String s="Raw: "+new ByteList(data);
        s+="\nDistance: "+distance;
        s+="\nAngle: "+angle;
        s+="\nTempreture: "+tempreture;
        s+="\nCharge: "+charge;
        s+="\nCapacity: "+capacity;
        s+="\nVoltage: "+voltage;
        s+="\nBump right: "+rightBump;
        s+="\nBump left: "+leftBump;
        
        s+="\nDrop right: "+rightDrop;
        s+="\nDrop left: "+leftDrop;
        s+="\nDrop center: "+centerDrop;
 
        
        return s;
    }
}