MoveCommand.java

package at.tugraz.ist.droned.dcf.command;
import at.tugraz.ist.droned.dcf.command.Command;


public class MoveCommand extends Command
{
	public MoveCommand() {
		name = "move";
		setRepetitionType(Command.REPETITION_UNLIMITED);
		unique = true;
		setAxisMove(0,0,0,0);
	}
	public MoveCommand(float roll, float pitch, float altitude, float yaw) {
		name = "move";
		setRepetitionType(Command.REPETITION_UNLIMITED);
		unique = true;
		setAxisMove(roll, pitch, altitude, yaw);
		
				
	}
	
	
	public void setAxisMove(float roll, float pitch, float altitude, float yaw) {

		int move = 0;
		if((roll >= -1) && (roll <= 1)
				&& (pitch >= -1) && (pitch <= 1)
				&& (altitude >= -1) && (altitude <= 1)
				&& (yaw >= -1) && (yaw <= 1))
		{
			if (roll == 0 && pitch == 0 && altitude == 0 && yaw == 0) {
				move = 0;
			} else {
				move = 1;
			}
			drone_command =  "AT*PCMD=#SEQ#," + (move ) + "," + Float.floatToIntBits(roll) + ","
			        + Float.floatToIntBits(pitch) + "," + Float.floatToIntBits(altitude) + ","
			        + Float.floatToIntBits(yaw);
		}
		else
		{
			//Log.e(DroneConsts.DroneLogTag, "ThreadCmd -> setAxisMove() got parameters out of bounds");
		}
	}
}