DyPIDConfiguration.java

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package com.neuronrobotics.sdk.dyio.dypid;
 
import com.neuronrobotics.sdk.common.BowlerDatagram;
import com.neuronrobotics.sdk.dyio.DyIOChannelMode;
 
// TODO: Auto-generated Javadoc
public class DyPIDConfiguration {
    
    private int group;
    
    private int inputChannel;
    
    private DyIOChannelMode inputMode=DyIOChannelMode.DIGITAL_IN;
    
    private int outputChannel;
    
    private DyIOChannelMode outputMode=DyIOChannelMode.DIGITAL_OUT;
    
    public DyPIDConfiguration(int group){
        setGroup(group);
        //disabled
        setInputChannel(0xff);
        setOutputChannel(0xff);
    }
    
    public DyPIDConfiguration(int group,int inputChannel,DyIOChannelMode inputMode,int outputChannel,DyIOChannelMode outputMode){
        setGroup(group);
        setInputChannel(inputChannel);
        setInputMode(inputMode);
        setOutputChannel(outputChannel);
        setOutputMode(outputMode);
    }
    
    public DyPIDConfiguration(BowlerDatagram conf) {
        setGroup(conf.getData().getUnsigned(0));
        setInputChannel(conf.getData().getUnsigned(1));
        setInputMode(DyIOChannelMode.get(conf.getData().get(2)));
        setOutputChannel(conf.getData().getUnsigned(3));
        setOutputMode(DyIOChannelMode.get(conf.getData().get(4)));
    }
    
    public void setGroup(int group) {
        this.group = group;
    }
    
    public int getGroup() {
        return group;
    }
    
    public void setInputChannel(int inputChannel) {
        this.inputChannel = inputChannel;
    }
    
    public int getInputChannel() {
        return inputChannel;
    }
    
    public void setInputMode(DyIOChannelMode inputMode) {
        this.inputMode = inputMode;
    }
    
    public DyIOChannelMode getInputMode() {
        return inputMode;
    }
    
    public void setOutputChannel(int outputChannel) {
        this.outputChannel = outputChannel;
    }
    
    public int getOutputChannel() {
        return outputChannel;
    }
    
    public void setOutputMode(DyIOChannelMode outputMode) {
        this.outputMode = outputMode;
    }
    
    public DyIOChannelMode getOutputMode() {
        return outputMode;
    }
}