com.raspoid.brickpi.uart.message

Class AckValuesMessage

java.lang.Object

com.raspoid.brickpi.uart.message.AckMessage

com.raspoid.brickpi.uart.message.AckValuesMessage

All Implemented Interfaces:

Message

public class AckValuesMessage
extends AckMessage

Acknowledgment message received from the brickpi containing fresh values retrieved from the motors and sensors.

Field Summary

Fields inherited from class com.raspoid.brickpi.uart.message.AckMessage

type

Constructor Summary

Constructors

Constructor and Description
AckValuesMessage(byte[] payloadBytes, Atmel origin) Creates a new AckValuesMessage giving it a payload and the Atmel chip from which it originates

Method Summary

Modifier and Type	Method and Description
int	getMotorEncoderValue(int motorNum) Get the encoder value of the specified motor
byte[]	getPayload() Get the message payload excluding the type
int	getSensorValue(int sensorNum) Get the value of the specified sensor

Methods inherited from class com.raspoid.brickpi.uart.message.AckMessage

getOrigin, getType

Methods inherited from class java.lang.Object

clone, equals, finalize, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Methods inherited from interface com.raspoid.brickpi.uart.message.Message

getPayloadBytesCount, getTotalBytesCount, getTotalBytesSum

Constructor Detail

AckValuesMessage

public AckValuesMessage(byte[] payloadBytes,
                        Atmel origin)

Creates a new AckValuesMessage giving it a payload and the Atmel chip from which it originates

Parameters:

payloadBytes - the payload in bytes

origin - the Atmel from which it originates

Method Detail

getSensorValue

public int getSensorValue(int sensorNum)

Get the value of the specified sensor

Parameters:

sensorNum - sensor number to get the value from

Returns:

the sensor value

getMotorEncoderValue

public int getMotorEncoderValue(int motorNum)

Get the encoder value of the specified motor

Parameters:

motorNum - motor number to get the value from

Returns:

the motor encoder value

getPayload

public byte[] getPayload()

Description copied from interface: Message

Get the message payload excluding the type

Specified by:

getPayload in interface Message

Overrides:

getPayload in class AckMessage

Returns:

the message payload