2 * Copyright © 2012 Keith Packard <keithp@keithp.com>
4 * This program is free software; you can redistribute it and/or modify
5 * it under the terms of the GNU General Public License as published by
6 * the Free Software Foundation; version 2 of the License.
8 * This program is distributed in the hope that it will be useful, but
9 * WITHOUT ANY WARRANTY; without even the implied warranty of
10 * MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the GNU
11 * General Public License for more details.
13 * You should have received a copy of the GNU General Public License along
14 * with this program; if not, write to the Free Software Foundation, Inc.,
15 * 59 Temple Place, Suite 330, Boston, MA 02111-1307 USA.
18 package org.altusmetrum.altoslib_1;
20 import java.util.concurrent.TimeoutException;
22 class AltosIMUQuery extends AltosIMU {
24 public AltosIMUQuery (AltosLink link) throws InterruptedException, TimeoutException {
27 String line = link.get_reply_no_dialog(5000);
29 throw new TimeoutException();
31 if (!line.startsWith("Accel:"))
33 String[] items = line.split("\\s+");
34 if (items.length >= 8) {
35 accel_x = Integer.parseInt(items[1]);
36 accel_y = Integer.parseInt(items[2]);
37 accel_z = Integer.parseInt(items[3]);
38 gyro_x = Integer.parseInt(items[5]);
39 gyro_y = Integer.parseInt(items[6]);
40 gyro_z = Integer.parseInt(items[7]);