public OutMessage(byte[] values)
{
if (values.Length < 4 || values.Length > 5)
{
throw new Exception("Wrong input.");
}
message = new byte[5];
for (int i = 0; i < 4; i++)
{
message[i] = values[i];
}
if (values.Length == 5)
{
message[4] = values[4];
if (CRC8.Checksum(message) != 0)
{
throw new Exception("Wrong CRC.");
}
}
else
{
message[4] = (byte)(CRC8.Checksum(message) & 0xff);
}
}
public OutMessage(byte seq, byte tacho, byte speed, byte brake)
{
message = new byte[5];
message[0] = seq;
message[1] = tacho;
message[2] = speed;
message[3] = brake;
message[4] = (byte)(CRC8.Checksum(message) & 0xff);
}
public InMessage(byte seq, byte tacho, short XAcceleration,
short YAcceleration, short ZAcceleration, short XRotation,
short YRotation, short ZRotation, byte crc)
{
message = new byte[15];
message[0] = seq;
message[1] = tacho;
message[2] = CRC8.ShortToByte(XAcceleration)[0];
message[3] = CRC8.ShortToByte(XAcceleration)[1];
message[4] = CRC8.ShortToByte(YAcceleration)[0];
message[5] = CRC8.ShortToByte(YAcceleration)[1];
message[6] = CRC8.ShortToByte(ZAcceleration)[0];
message[7] = CRC8.ShortToByte(ZAcceleration)[1];
message[8] = CRC8.ShortToByte(XRotation)[0];
message[9] = CRC8.ShortToByte(XRotation)[1];
message[10] = CRC8.ShortToByte(XRotation)[0];
message[11] = CRC8.ShortToByte(XRotation)[1];
message[12] = CRC8.ShortToByte(XRotation)[0];
message[13] = CRC8.ShortToByte(XRotation)[1];
message[14] = (byte)(CRC8.Checksum(message) & 0xff);
}