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Diffstat (limited to 'altoslib/AltosIMUQuery.java')
| -rw-r--r-- | altoslib/AltosIMUQuery.java | 46 |
1 files changed, 46 insertions, 0 deletions
diff --git a/altoslib/AltosIMUQuery.java b/altoslib/AltosIMUQuery.java new file mode 100644 index 00000000..0965fa39 --- /dev/null +++ b/altoslib/AltosIMUQuery.java @@ -0,0 +1,46 @@ +/* + * Copyright © 2012 Keith Packard <keithp@keithp.com> + * + * This program is free software; you can redistribute it and/or modify + * it under the terms of the GNU General Public License as published by + * the Free Software Foundation; version 2 of the License. + * + * This program is distributed in the hope that it will be useful, but + * WITHOUT ANY WARRANTY; without even the implied warranty of + * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU + * General Public License for more details. + * + * You should have received a copy of the GNU General Public License along + * with this program; if not, write to the Free Software Foundation, Inc., + * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA. + */ + +package org.altusmetrum.AltosLib; + +import java.util.concurrent.TimeoutException; + +class AltosIMUQuery extends AltosIMU { + + public AltosIMUQuery (AltosLink link) throws InterruptedException, TimeoutException { + link.printf("I\n"); + for (;;) { + String line = link.get_reply_no_dialog(5000); + if (line == null) { + throw new TimeoutException(); + } + if (!line.startsWith("Accel:")) + continue; + String[] items = line.split("\\s+"); + if (items.length >= 8) { + accel_x = Integer.parseInt(items[1]); + accel_y = Integer.parseInt(items[2]); + accel_z = Integer.parseInt(items[3]); + gyro_x = Integer.parseInt(items[5]); + gyro_y = Integer.parseInt(items[6]); + gyro_z = Integer.parseInt(items[7]); + } + break; + } + } +} + |