ch.aplu.ev3

Class ArduinoLink

java.lang.Object

ch.aplu.ev3.Part

ch.aplu.ev3.Sensor

ch.aplu.ev3.ArduinoLink

public class ArduinoLink
extends Sensor

Class that represents I2C master-slave communication with the Arduino microcontroller board. The arduino acts as slave with I2C slave address 0x04 as defined in the Arduino C program.

Connection diagram:
Use two resistors 82 kOhm to pull-up line A4 and A5 of Arduino.
The Ardunio may be powered from the EV3 by connecting >>>>>>>, otherwise
let the Arduino's 5V pin open. 
(Never use the VIN pin, because it may have a voltage
higher than 5V if the Arduino is external powered.)


The color on the left side corresponds to a standard 
Lego sensor cable.



    blue   6 [-----------x-------------------------] A4
                         |
 L                       |                                A
                         |
    yellow 5 [-------------------x-----------------] A5   R
 E                       |       |
                        ---     ---                       D
                       |82K|   |82k|
 G                     |   |   |   |                      U
                       |   |   |   |
                        ---     ---                       I
 O                       |       |
    green  4 [-----------x-------x---------->>>>>>>] 5V   N

                                                          O
    red    3 [-------------------------------------] GND


    black  2 [


    white  1 [

Constructor Summary

Constructors

Constructor and Description
ArduinoLink() Creates a sensor instance connected to port S1.
ArduinoLink(SensorPort port) Creates a sensor instance connected to the given port.

Method Summary

Methods

Modifier and Type	Method and Description
void	getReply(int request, int[] reply) Returns a integer array of size 16 containing the reply from the Arduino after sending the request.
int	getReplyInt(int request) Returns a one byte reply (int in range 0..255).
java.lang.String	getReplyString(int request) Returns a null-terminated ASCII string reply.

Methods inherited from class java.lang.Object

equals, getClass, hashCode, notify, notifyAll, toString, wait, wait, wait

Constructor Detail

ArduinoLink

public ArduinoLink(SensorPort port)

Creates a sensor instance connected to the given port.

Parameters:

port - the port where the sensor is plugged-in

ArduinoLink

public ArduinoLink()

Creates a sensor instance connected to port S1.

Method Detail

getReplyInt

public int getReplyInt(int request)

Returns a one byte reply (int in range 0..255).

Returns:

the reply from the Arduino when it gets the request

getReply

public void getReply(int request,
            int[] reply)

Returns a integer array of size 16 containing the reply from the Arduino after sending the request. The request must be one byte only (unsigned in range 0..255), e.g. getReply(65) is same as getReply('A'). Integer are used to simulate unsigned bytes. A C-string-type reply is zero terminated.)

getReplyString

public java.lang.String getReplyString(int request)

Returns a null-terminated ASCII string reply. The maximum byte reply length is 16 bytes (including null char). If the null char is not found, returns 16 bytes converted to a Java string.

Returns:

the reply from the Arduino when it gets the request