/// <summary>
/// "4C 1D"などの外部からサーボの値を入れる
/// ちなみに4C 1Dが7500です
/// </summary>
/// <param name="newValue">"4C 1D"</param>
public void SetServoValueSafeClamp(string spaceSplitedByteString)
{
var aaa = PreMaidUtility.ConvertEndian(PreMaidUtility.RemoveWhitespace(spaceSplitedByteString));
int intValue = int.Parse(aaa, System.Globalization.NumberStyles.HexNumber);
//Debug.Log($"{spaceSplitedByteString} は {intValue} ");
SetServoValueSafeClamp(intValue);
}
/// <summary>
/// 受信時の処理
/// </summary>
/// <param name="receivedString"></param>
/// <exception cref="NotImplementedException"></exception>
private void OnReceivedFromPreMaidAi(string receivedString)
{
//4文字以下なら不正
if (receivedString.Length < 4)
{
return;
}
//3-4文字目が命令種類
string orderKind = receivedString.Substring(2, 2);
//Debug.Log("orderKind:"+ orderKind);
switch (orderKind)
{
//バッテリー残量
case "01":
if (receivedString.Length >= 10)
{
int rawValtageValue =
PreMaidUtility.HexStringToInt(PreMaidUtility.ConvertEndian(receivedString.Substring(6, 4)));
Debug.Log($"バッテリー残量{rawValtageValue} で電圧は{rawValtageValue / 216f} V");
if (rawValtageValue / 216.0f < 9f)
{
Debug.LogError("バッテリー残量が9V以下です！！！！");
}
}
break;
//モーション転送結果
case "18":
if (receivedString == "0418001C")
{
}
else
{
Debug.Log("PoseError:" + receivedString);
}
break;
default:
Debug.Log(receivedString);
break;
}
}
/// <summary>
/// 7500だったら"4C 1D"が返ってくる
/// </summary>
/// <returns></returns>
public string GetServoValueString()
{
var tmp = PreMaidUtility.ConvertEndian(_servoValue.ToString("X2"));
return($"{tmp[0]}{tmp[1]} {tmp[2]}{tmp[3]}");
}