private void changeMotorSpeed(int motor, int speed) {
if (speed > 100) speed = 100;
else if (speed < -100) speed = -100;
byte[] message = LCPMessage.getMotorMessage(motor, speed);
sendMessageAndState(message);
}
private void findFiles(boolean findFirst, int handle) {
byte[] message = LCPMessage.getFindFilesMessage(findFirst, handle, "*.*");
sendMessageAndState(message);
}
private void getFirmwareVersion() {
byte[] message = LCPMessage.getFirmwareVersionMessage();
sendMessageAndState(message);
}
private void readMotorState(int motor) {
byte[] message = LCPMessage.getOutputStateMessage(motor);
sendMessageAndState(message);
}
private void reset(int motor) {
byte[] message = LCPMessage.getResetMessage(motor);
sendMessageAndState(message);
}
private void rotateTo(int motor, int end) {
byte[] message = LCPMessage.getMotorMessage(motor, -80, end);
sendMessageAndState(message);
}
private void getProgramName() {
byte[] message = LCPMessage.getProgramNameMessage();
sendMessageAndState(message);
}
private void stopProgram() {
byte[] message = LCPMessage.getStopProgramMessage();
sendMessageAndState(message);
}
private void startProgram(String programName) {
byte[] message = LCPMessage.getStartProgramMessage(programName);
sendMessageAndState(message);
}
private void doAction(int actionNr) {
byte[] message = LCPMessage.getActionMessage(actionNr);
sendMessageAndState(message);
}
private void doBeep(int frequency, int duration) {
byte[] message = LCPMessage.getBeepMessage(frequency, duration);
sendMessageAndState(message);
waitSomeTime(20);
}