private void sendValues(float[] armAngles) {
int start = 0;
int end = armAngles.length;
int step = armAngles.length / 2;
while (start < end) {
if (end - start < step) {
step = end - start;
}
byte[] data = new byte[step * 2];
for (int i = 0; i < step; i++) {
int idx = start + i;
float angle =
(float) ArmAngleUtil.radToDig(armAngles[idx]) + mArmSetting.getAngleOffset(idx);
float rate =
(angle - mArmSetting.getServoMin(idx))
/ (mArmSetting.getServoMax(idx) - mArmSetting.getServoMin(idx));
rate = Math.max(Math.min(1, rate), 0);
int value = (int) (0xFFFF * rate);
if (mArmSetting.getServoInvert(idx)) {
value = 0xffff - value;
}
data[i * 2] = (byte) ((value >> 8) & 0xFF);
data[i * 2 + 1] = (byte) (value & 0xFF);
}
try {
if (mAdkService != null) {
mAdkService.sendCommand((byte) 0x03, (byte) (0x01 + (start * 2)), data);
}
} catch (RemoteException e) {
Log.d("Debug", "RemoteException");
// finish();
}
start += step;
}
}
@Override
public void onServiceConnected(ComponentName name, IBinder service) {
mAdkService = IAdkService.Stub.asInterface(service);
try {
mAdkService.connectDevice();
} catch (RemoteException e) {
Log.d("Debug", e.toString(), e);
}
}