ch.aplu.nxt
Class I2CSensor

java.lang.Object
  ch.aplu.nxt.Part
      ch.aplu.nxt.Sensor
          ch.aplu.nxt.I2CSensor

All Implemented Interfaces:

SharedConstants

Direct Known Subclasses:

PrototypeSensor, UltrasonicSensor

public class I2CSensor
extends Sensor
implements SharedConstants

A sensor wrapper to allow easy access to I2C sensors, like the ultrasonic sensor. Currently uses the default I2C address of 0x02, but some sensors can be connected to same port lines and use different addresses using the Auto Detecting Parallel Architecture (ADPA). Currently unsure if there are commercial port expanders yet to use this function, or whether the Lego UltrasonicSensor sensor is ADPA compatible.
Most of the code and the documentation taken from the leJOS library (lejos.sourceforge.net, with thanks to the autor.

Field Summary

Fields inherited from class ch.aplu.nxt.Part

robot

Fields inherited from interface ch.aplu.nxt.SharedConstants

ABOUT, ANGLE, ANGLESTEPSMODE, BOOLEANMODE, BOOT, BRAKE, CELSIUSMODE, CLOSE, CUSTOM, DEBUG_LEVEL_HIGH, DEBUG_LEVEL_LOW, DEBUG_LEVEL_MEDIUM, DEBUG_LEVEL_OFF, DELETE, DELETE_USER_FLASH, DIRECT_COMMAND_NOREPLY, DIRECT_COMMAND_REPLY, FAHRENHEITMODE, FIND_FIRST, FIND_NEXT, GET_BATTERY_LEVEL, GET_CURRENT_PROGRAM_NAME, GET_DEVICE_INFO, GET_FIRMWARE_VERSION, GET_INPUT_VALUES, GET_OUTPUT_STATE, HIGH_SPEED_BUFFER, KEEP_ALIVE, LIGHT_ACTIVE, LIGHT_INACTIVE, LOWSPEED, LOWSPEED_9V, LS_GET_STATUS, LS_READ, LS_WRITE, MESSAGE_READ, MESSAGE_WRITE, MODEMASK, MOTOR_RUN_STATE_IDLE, MOTOR_RUN_STATE_RAMPDOWN, MOTOR_RUN_STATE_RAMPUP, MOTOR_RUN_STATE_RUNNING, MOTORON, NO_OF_SENSOR_TYPES, NO_SENSOR, NXJ_FIND_FIRST, NXJ_FIND_NEXT, OPEN_APPEND_DATA, OPEN_READ, OPEN_READ_LINEAR, OPEN_WRITE, OPEN_WRITE_DATA, OPEN_WRITE_LINEAR, PCTFULLSCALEMODE, PERIODCOUNTERMODE, PLAY_SOUND_FILE, PLAY_TONE, POLL, POLL_BUFFER, POLL_LENGTH, RAWMODE, READ, REFLECTION, REGULATED, REGULATION_MODE_IDLE, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_MOTOR_SYNC, REPLY_COMMAND, RESET_MOTOR_POSITION, RESET_SCALED_INPUT_VALUE, SET_BRICK_NAME, SET_INPUT_MODE, SET_OUTPUT_STATE, SLOPEMASK, SOUND_DB, SOUND_DBA, START_PROGRAM, STOP_PROGRAM, STOP_SOUND_PLAYBACK, SWITCH, SYSTEM_COMMAND_NOREPLY, SYSTEM_COMMAND_REPLY, TEMPERATURE, TITLE, TITLEMP, TRANSITIONCNTMODE, VERSION, WRITE

Constructor Summary

I2CSensor(SensorPort port, byte sensorType)
Creates a sensor instance of given type connected to the given port.

Method Summary

protected void	cleanup()
protected java.lang.String	fetchString(byte constantEnumeration, int rxLength)
byte[]	getData(byte register, int length) Retrieves data from the sensor.
protected void	init()
void	sendData(byte register, byte value) Sets a single byte in the I2C sensor.
void	sendData(byte register, byte value1, byte value2) Sets two bytes in the I2C sensor.

Methods inherited from class ch.aplu.nxt.Sensor

getPort, getPortId, getPortLabel, LSRead, LSWrite, readBooleanValue, readNormalizedValue, readRawValue, readScaledValue, setTypeAndMode

Methods inherited from class ch.aplu.nxt.Part

setRobot

Methods inherited from class java.lang.Object

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

Constructor Detail

I2CSensor

public I2CSensor(SensorPort port,
                 byte sensorType)

Creates a sensor instance of given type connected to the given port.

Parameters:

port - the port where the sensor is plugged-in

sensorType - the type of the sensor

Method Detail

init

protected void init()

Specified by:

init in class Part

getData

public byte[] getData(byte register,
                      int length)

Retrieves data from the sensor. Data is read from registers in the sensor, usually starting at 0x00 and ending around 0x49. Just supply the register to start reading at, and the length of bytes to read (16 maximum). NOTE: The NXT supplies an unsigned byte but Java converts them into signed bytes.

Parameters:

register - the register used, e.g. FACTORY_SCALE_DIVISOR, BYTE0, etc....

length - the length of data to read (minimum 1, maximum 16)

Returns:

the data from the sensor

sendData

public void sendData(byte register,
                     byte value)

Sets a single byte in the I2C sensor.

Parameters:

register - the data register in the I2C sensor, e.g. ACTUAL_ZERO

value - the data sent to the sensor

sendData

public void sendData(byte register,
                     byte value1,
                     byte value2)

Sets two bytes in the I2C sensor.

Parameters:

register - the data register in the I2C sensor, e.g. ACTUAL_ZERO

value1 - the first data value sent to the sensor

value2 - the second data value sent to the sensor

fetchString

protected java.lang.String fetchString(byte constantEnumeration,
                                       int rxLength)

cleanup

protected void cleanup()

Specified by:

cleanup in class Part