RBSMBrakeMessage.java

package com.roboclub.robobuggy.nodes.sensors;

import com.roboclub.robobuggy.serial.RBSerialMessage;

/**
 * Class used to represent RBSM brake messages
 */
public class RBSMBrakeMessage {
    private static final byte HEADER = RBSerialMessage.getHeaderByte("RBSM_MID_MEGA_AUTON_BRAKE_COMMAND");
    private static final byte FOOTER = RBSerialMessage.getHeaderByte("FOOTER");

    private boolean brakesEngaged;

    /**
     * Create a new {@link RBSMBrakeMessage} object to send to the Arduino
     *
     * @param brakesEngaged desired brake state
     */
    public RBSMBrakeMessage(boolean brakesEngaged) {
        this.brakesEngaged = brakesEngaged;
    }

    /**
     * Returns a byte array of the {@link RBSMBrakeMessage} to send to the Arduino
     *
     * @return a byte array of the {@link RBSMBrakeMessage} to send to the Arduino
     */
    public byte[] getMessageBytes() {
        byte[] bytes = new byte[6];
        bytes[0] = HEADER;
        bytes[1] = (byte) 0x00;
        bytes[2] = (byte) 0x00;
        bytes[3] = (byte) 0x00;
        if (brakesEngaged)
            bytes[4] = (byte) 0x01;
        else
            bytes[4] = (byte) 0x00;
        bytes[5] = FOOTER;
        return bytes;
    }
}