AForge.Robotics.Lego.NXTBrick.GetSensorValue C# (CSharp) Метод

        public bool GetSensorValue( Sensor sensor, out SensorValues sensorValues )
        {
            byte[] command = new byte[3];
            byte[] reply = new byte[16];

            sensorValues = new SensorValues( );

            // prepare message
            command[0] = (byte) NXTCommandType.DirectCommand;
            command[1] = (byte) NXTDirectCommand.GetInputValues;
            command[2] = (byte) sensor;

            if ( SendCommand( command, reply ) )
            {
                sensorValues.IsValid      = ( reply[4] != 0 );
                sensorValues.IsCalibrated = ( reply[5] != 0 );
                sensorValues.SensorType   = (SensorType) reply[6];
                sensorValues.SensorMode   = (SensorMode) reply[7];
                sensorValues.Raw          = (ushort) ( reply[8] | ( reply[9] << 8 ) );
                sensorValues.Normalized   = (ushort) ( reply[10] | ( reply[11] << 8 ) );
                sensorValues.Scaled       = (short) ( reply[12] | ( reply[13] << 8 ) );
                sensorValues.Calibrated   = (short) ( reply[14] | ( reply[15] << 8 ) );

                return true;
            }

            return false;
        }