CalibrateCommand.java

package se.nicklasgavelin.sphero.command;

/**
 * A calibration command for the Sphero robot.
 * Will calibrate the heading the robot is facing towards to
 * make the roll command work properly
 * 
 * @author Orbotix
 * @author Nicklas Gavelin, nicklas.gavelin@gmail.com, Luleå University of Technology
 */
public class CalibrateCommand extends CommandMessage
{
	private float heading;

	/**
	 * Create a calibrate command with a given heading
	 * 
	 * @param heading The heading for the calibrate command
	 */
	public CalibrateCommand( float heading )
	{
		super( COMMAND_MESSAGE_TYPE.CALIBRATE );
		this.heading = heading;
	}

	/**
	 * Returns the heading set in the command
	 * 
	 * @return The heading
	 */
	public float getHeading()
	{
		return this.heading;
	}

	@Override
	protected byte[] getPacketData()
	{
		byte[] data = new byte[ 2 ];
		data[0] = (byte) ( (int) this.heading >> 8 );
		data[1] = (byte) (int) this.heading;

		return data;
	}
}