/// <summary>
/// CreateMirrorMoveCommand is used to generate the Byte
/// Array that will be sent to the NXT Brick to move a
/// Mirror.
/// </summary>
/// <param name="axis">The Axis that needs to be moved -- X or Y</param>
/// <param name="relativePos">The amount by which to move the mirror relative to the current position</param>
/// <returns>Byte Array of LEGO Command</returns>
private Byte[] CreateMirrorMoveCommand(Enums.MirrorAxis axis, Int32 relativePos)
{
//Declare a List to hold the command
List <Byte> rtn = new List <Byte>();
//Set the command type -- Direct with reply
rtn.Add((Byte)LEGOCommandType.DirectCommand);
//Set the MessageWrite command
rtn.Add((Byte)LEGODirectCommand.MessageWrite);
//Set the Mailbox to which to send message
rtn.Add(LEGOMirror._mailboxID);
//Create a string with the data in it
String msg = Convert.ToByte(axis).ToString() + "|" + LEGOMirror._motorPower.ToString() + "|" + relativePos.ToString();
//Add the length of the string for message size -- add
//one for the null character added below
rtn.Add(Convert.ToByte(msg.Length + 1));
//Turn the String to a Char array
Char[] msgChars = msg.ToCharArray();
//Put each byte into the command
foreach (Char c in msgChars)
{
rtn.Add((Byte)c);
}
//Add a null byte for the end of the string
rtn.Add(0);
//Return the result
return(rtn.ToArray());
}
