/* CONSTRUCTOR */
public MultiWiiCore(String portName)
{
rcChannels = new RCChannels(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
rawIMU = new RawIMU(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
motor = new Motor(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
attitude = new Attitude(0.0, 0.0, 0.0, 0.0, 0.0);
message = new Message(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
elapsed = 0.0;
print = true;
serialPort = new SerialPort();
serialPort.PortName = portName;
serialPort.BaudRate = 57600;
serialPort.DataBits = 8;
serialPort.Parity = Parity.None;
serialPort.StopBits = StopBits.One;
serialPort.ReadTimeout = 0;
serialPort.WriteTimeout = 2;
serialPort.Handshake = Handshake.None;
serialPort.RtsEnable = false;
serialPort.DtrEnable = false;
AuxFunctions.openPort(serialPort, print);
}
/* INITIALIZATION */
static void Initialize()
{
rcChannels = new RCChannels(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
rawIMU = new RawIMU(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
motor = new Motor(0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
attitude = new Attitude(0.0, 0.0, 0.0, 0.0, 0.0);
message = new Message(0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0);
}