Java XML Data Type Converter toRoboCommand(int command)

Description

to Robo Command

License

CPAL v1.0

Declaration

public static String toRoboCommand(int command) throws UnsupportedEncodingException 

Method Source Code

//package com.java2s;
/**//w  w  w  .  jav  a2  s  .c  o m
 * (c) 2003-2014 MuleSoft, Inc. The software in this package is published under the terms of the CPAL v1.0 license,
 * a copy of which has been included with this distribution in the LICENSE.md file.
 */

import javax.xml.bind.DatatypeConverter;
import java.io.UnsupportedEncodingException;

public class Main {
    private static String PREFIX = "fffffd00";
    private static String DYNAMIXEL_ID = "c8";
    private static String COMMAND_PACKET_LENGTH = "0700";
    private static String INSTRUCTION_WRITE = "03";
    private static String ADDRESS_EXECUTE = "4200";
    private static int[] table = { 0x0000, 0x8005, 0x800F, 0x000A, 0x801B, 0x001E, 0x0014, 0x8011, 0x8033, 0x0036,
            0x003C, 0x8039, 0x0028, 0x802D, 0x8027, 0x0022, 0x8063, 0x0066, 0x006C, 0x8069, 0x0078, 0x807D, 0x8077,
            0x0072, 0x0050, 0x8055, 0x805F, 0x005A, 0x804B, 0x004E, 0x0044, 0x8041, 0x80C3, 0x00C6, 0x00CC, 0x80C9,
            0x00D8, 0x80DD, 0x80D7, 0x00D2, 0x00F0, 0x80F5, 0x80FF, 0x00FA, 0x80EB, 0x00EE, 0x00E4, 0x80E1, 0x00A0,
            0x80A5, 0x80AF, 0x00AA, 0x80BB, 0x00BE, 0x00B4, 0x80B1, 0x8093, 0x0096, 0x009C, 0x8099, 0x0088, 0x808D,
            0x8087, 0x0082, 0x8183, 0x0186, 0x018C, 0x8189, 0x0198, 0x819D, 0x8197, 0x0192, 0x01B0, 0x81B5, 0x81BF,
            0x01BA, 0x81AB, 0x01AE, 0x01A4, 0x81A1, 0x01E0, 0x81E5, 0x81EF, 0x01EA, 0x81FB, 0x01FE, 0x01F4, 0x81F1,
            0x81D3, 0x01D6, 0x01DC, 0x81D9, 0x01C8, 0x81CD, 0x81C7, 0x01C2, 0x0140, 0x8145, 0x814F, 0x014A, 0x815B,
            0x015E, 0x0154, 0x8151, 0x8173, 0x0176, 0x017C, 0x8179, 0x0168, 0x816D, 0x8167, 0x0162, 0x8123, 0x0126,
            0x012C, 0x8129, 0x0138, 0x813D, 0x8137, 0x0132, 0x0110, 0x8115, 0x811F, 0x011A, 0x810B, 0x010E, 0x0104,
            0x8101, 0x8303, 0x0306, 0x030C, 0x8309, 0x0318, 0x831D, 0x8317, 0x0312, 0x0330, 0x8335, 0x833F, 0x033A,
            0x832B, 0x032E, 0x0324, 0x8321, 0x0360, 0x8365, 0x836F, 0x036A, 0x837B, 0x037E, 0x0374, 0x8371, 0x8353,
            0x0356, 0x035C, 0x8359, 0x0348, 0x834D, 0x8347, 0x0342, 0x03C0, 0x83C5, 0x83CF, 0x03CA, 0x83DB, 0x03DE,
            0x03D4, 0x83D1, 0x83F3, 0x03F6, 0x03FC, 0x83F9, 0x03E8, 0x83ED, 0x83E7, 0x03E2, 0x83A3, 0x03A6, 0x03AC,
            0x83A9, 0x03B8, 0x83BD, 0x83B7, 0x03B2, 0x0390, 0x8395, 0x839F, 0x039A, 0x838B, 0x038E, 0x0384, 0x8381,
            0x0280, 0x8285, 0x828F, 0x028A, 0x829B, 0x029E, 0x0294, 0x8291, 0x82B3, 0x02B6, 0x02BC, 0x82B9, 0x02A8,
            0x82AD, 0x82A7, 0x02A2, 0x82E3, 0x02E6, 0x02EC, 0x82E9, 0x02F8, 0x82FD, 0x82F7, 0x02F2, 0x02D0, 0x82D5,
            0x82DF, 0x02DA, 0x82CB, 0x02CE, 0x02C4, 0x82C1, 0x8243, 0x0246, 0x024C, 0x8249, 0x0258, 0x825D, 0x8257,
            0x0252, 0x0270, 0x8275, 0x827F, 0x027A, 0x826B, 0x026E, 0x0264, 0x8261, 0x0220, 0x8225, 0x822F, 0x022A,
            0x823B, 0x023E, 0x0234, 0x8231, 0x8213, 0x0216, 0x021C, 0x8219, 0x0208, 0x820D, 0x8207, 0x0202 };

    public static String toRoboCommand(int command) throws UnsupportedEncodingException {
        final String hexCommand = toRoboHex(command);
        final String packet = PREFIX + DYNAMIXEL_ID + COMMAND_PACKET_LENGTH + INSTRUCTION_WRITE + ADDRESS_EXECUTE
                + hexCommand;
        final int cr16 = calculateCR16(packet);
        final String cr16RoboHex = toRoboHex(cr16);
        return packet + cr16RoboHex;
    }

    public static String toRoboHex(int value) {
        String toHexString = Integer.toHexString(value + 0x10000);
        String onlyLastFor = toHexString.substring(toHexString.length() - 4, toHexString.length());
        return onlyLastFor.substring(2, 4) + onlyLastFor.substring(0, 2);
    }

    private static int calculateCR16(String value) throws UnsupportedEncodingException {
        final byte[] bytes = toByteArray(value);
        int crc_accum = 0;
        int i;
        for (byte aByte : bytes) {
            i = ((crc_accum >> 8) ^ (aByte)) & 0xFF;
            crc_accum = (crc_accum << 8) ^ table[i];
        }
        return crc_accum;
    }

    public static byte[] toByteArray(String s) {
        return DatatypeConverter.parseHexBinary(s);
    }
}

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