DriveControlMessage.java

package com.roboclub.robobuggy.messages;

import java.util.Date;

/**
 * Message for passing the desired commanded value of the steering
 */
public class DriveControlMessage extends BaseMessage {

    public static final String VERSION_ID = "drive_control_message";

    private final double angle;

    /**
     * Construct a new DriveControlMessage
     *
     * @param timestamp {@link Date} representing the creation time
     * @param angle     the commanded angle of the front wheel
     */
    public DriveControlMessage(Date timestamp, double angle) {
        this.angle = angle;
        this.timestamp = new Date(timestamp.getTime()).getTime();
    }

    /**
     * Returns the commanded angle of the steering as a double (in degrees)
     *
     * @return the commanded angle of the steering as a double (in degrees)
     */
    public double getAngleDouble() {
        return angle;
    }

    /**
     * Returns the commanded angle of the steering as an int (in hundredths of degrees)
     *
     * @return the commanded angle of the steering as an int (in hundredths of degrees)
     */
    public int getAngleInt() {
        return (int) (angle * 100.0);
    }

}