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/*
*
* This file is part of the OpenKinect Project. http://www.openkinect.org
*
* Copyright (c) 2010 individual OpenKinect contributors. See the CONTRIB file
* for details.
*
* This code is licensed to you under the terms of the Apache License, version
* 2.0, or, at your option, the terms of the GNU General Public License,
* version 2.0. See the APACHE20 and GPL20 files for the text of the licenses,
* or the following URLs:
* http://www.apache.org/licenses/LICENSE-2.0
* http://www.gnu.org/licenses/gpl-2.0.txt
*
* If you redistribute this file in source form, modified or unmodified,
* you may:
* 1) Leave this header intact and distribute it under the same terms,
* accompanying it with the APACHE20 and GPL20 files, or
* 2) Delete the Apache 2.0 clause and accompany it with the GPL20 file, or
* 3) Delete the GPL v2.0 clause and accompany it with the APACHE20 file
* In all cases you must keep the copyright notice intact and include a copy
* of the CONTRIB file.
* Binary distributions must follow the binary distribution requirements of
* either License.
*
*/
package org.as3kinect {
import org.as3kinect.as3kinect;
import org.as3kinect.as3kinectSocket;
import org.as3kinect.objects.motorData;
import flash.utils.ByteArray;
public class as3kinectMotor {
private var _socket:as3kinectSocket;
private var _data:ByteArray;
private var _motor_busy:Boolean;
private var _motor_data:motorData;
private var _motor_position:Number;
public function as3kinectMotor(){
_socket = as3kinectSocket.instance;
_data = new ByteArray;
_motor_busy = false;
_motor_data = new motorData;
_motor_position = 0;
}
/*
* Tell server to send the latest depth frame
* Note: We should lock the command while we are waiting for the data to avoid lag
*/
public function getData():void {
if(!_motor_busy){
_motor_busy = true;
_data.clear();
_data.writeByte(as3kinect.MOTOR_ID);
_data.writeByte(as3kinect.ACCEL_DATA);
_data.writeInt(0);
if(_socket.sendCommand(_data) != as3kinect.SUCCESS){
throw new Error('Data was not complete');
}
}
}
/*
* Set motor data from ByteArray
*/
public function updateDataFromBytes(bytes:ByteArray):void{
_motor_data.ax = bytes.readShort();
_motor_data.ay = bytes.readShort();
_motor_data.az = bytes.readShort();
_motor_data.dx = bytes.readDouble();
_motor_data.dy = bytes.readDouble();
_motor_data.dz = bytes.readDouble();
}
public function get data():motorData
{
return _motor_data;
}
public function set data(data:motorData):void
{
_motor_data = data;
}
public function set busy(flag:Boolean):void
{
_motor_busy = flag;
}
public function get busy():Boolean
{
return _motor_busy;
}
public function set position(position:Number):void
{
_data.clear();
_data.writeByte(as3kinect.MOTOR_ID);
_data.writeByte(as3kinect.MOVE_MOTOR);
_data.writeInt(position);
if(_socket.sendCommand(_data) != as3kinect.SUCCESS){
throw new Error('Data was not complete');
} else {
_motor_position = position;
}
}
public function get position():Number
{
return _motor_position;
}
// 0 = Turn Off
// 1 = Green
// 2 = Red
// 3 = Orange
// 4 = Blink Green-Off
// 6 = Blink Red-Orange
public function set ledColor(color:Number):void
{
_data.clear();
_data.writeByte(as3kinect.MOTOR_ID);
_data.writeByte(as3kinect.LED_COLOR);
_data.writeInt(color);
if(_socket.sendCommand(_data) != as3kinect.SUCCESS){
throw new Error('Data was not complete');
}
}
}
}
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