private Buttons.ButtonStates ReadStates()
{
var bs = Buttons.ButtonStates.None;
byte[] buttonData = buttonMem.Read();
int bitMask = 1;
foreach (byte butState in buttonData)
{
if (butState != 0)
{
bs |= (Buttons.ButtonStates)bitMask;
}
bitMask = bitMask << 1;
}
return(bs);
}
private byte[] GetRawData(int idx, int length)
{
return(uartMemory.Read(UartRawOffset + idx, length));
}
protected byte[] ReadBytes(int offset, int length)
{
return(analogMemory.Read(offset, length));
}
/// <summary>
/// Gets the tacho count.
/// </summary>
/// <returns>The tacho count.</returns>
/// <param name="port">Motor port to read from</param>
public Int32 GetCount(MotorPort port)
{
return(BitConverter.ToInt32(tachoMemory.Read((int)port * TachoBufferSize + TachoDataOffset, 4), 0));
}
