/* $Id$
*
* This file is a part of jPapaBench providing a Java implementation
* of PapaBench project.
* Copyright (C) 2010 Michal Malohlava <michal.malohlava_at_d3s.mff.cuni.cz>
*
* 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; either version 2
* of the License, or (at your option) any later version.
*
* 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., 51 Franklin Street, Fifth Floor, Boston, MA 02110-1301, USA.
*
*/
package papabench.core.autopilot.devices.impl;
import papabench.core.autopilot.devices.IRDevice;
import papabench.core.commons.conf.IRConf;
/**
* @author Michal Malohlava
*
*/
//@SCJAllowed
public class IRDeviceImpl implements IRConf, IRDevice {
protected int irRoll; /* average roll */
protected int irPitch; /* average pitch */
protected int irContrast = DEFAULT_IR_CONTRAST;
protected int irRollNeutral = DEFAULT_IR_ROLL_NEUTRAL;
protected int irPitchNeutral = DEFAULT_IR_PITCH_NEUTRAL;
protected float irRadOfIr = IR_RAD_OF_IR_CONTRAST / DEFAULT_IR_CONTRAST;
protected int simulIrRoll;
protected int simulIrPitch;
public void update() {
irRoll = simulIrRoll - irRollNeutral;
irPitch = simulIrPitch - irPitchNeutral;
}
public void calibrate() {
/* plane nose down -> negative value */
irContrast = - irPitch;
irRadOfIr = IR_RAD_OF_IR_CONTRAST / irContrast;
}
public void init() {
irRadOfIr = IR_RAD_OF_IR_CONTRAST / DEFAULT_IR_CONTRAST;
// setup ADC channels conversion - however there are not used in simulation - SKIPED - see infrared.c
}
public void reset() {
}
public int getIrRoll() {
return irRoll;
}
public int getIrPitch() {
return irPitch;
}
public int getIrTop() {
return 0;
}
public int getIrContrast() {
return irContrast;
}
public int getIrRollNeutral() {
return irRollNeutral;
}
public int getIrPitchNeutral() {
return irPitchNeutral;
}
public float getIrRadOfIr() {
return irRadOfIr;
}
public void setSimulIrRoll(int simulIrRoll) {
this.simulIrRoll = simulIrRoll;
}
public void setSimulIrPitch(int simulIrPitch) {
this.simulIrPitch = simulIrPitch;
}
}