ch.aplu.nxt
Class UltrasonicSensor

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

All Implemented Interfaces:

SharedConstants

public class UltrasonicSensor
extends I2CSensor

Class that represents an ultrasonic sensor. Most of the code and the documentation taken from the leJOS library (lejos.sourceforge.net, with thanks to the autor.

Field Summary

static byte	CONTINUOUS_MEASUREMENT Sensor making continuous readings at set intervals.
static byte	EVENT_CAPTURE Puts the sensor in passive mode to record pings that might come from other sonar sensors.
static byte	OFF Turn off sensor.
static byte	REQUEST_WARM_RESET Resets the sensor.
static byte	SINGLE_SHOT Sensor sends out one ping and records result.

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

UltrasonicSensor()
Creates a sensor instance connected to port S1.

UltrasonicSensor(SensorPort port)
Creates a sensor instance connected to the given port.

Method Summary

void	addUltrasonicListener(UltrasonicListener ultrasonicListener, int triggerLevel) Registers the given ultrasonic listener for the given trigger level.
void	calibrate(byte scaleFactor, byte scaleDivisor, byte zero) Calibrates the sensor.
protected void	cleanup()
int	getDistance() Polls the sensor.
byte[]	getDistances() The ultrasonic sensor is capable of sending a ping and recording up to 8 echoes.
int	getFactoryScaleDivisor() Gets the default scale divisor, which produces either cm's, inches, or some other unit.
int	getFactoryScaleFactor() Gets the default scale factor, which produces either cm's, inches, or some other unit.
int	getFactoryZero() Gets the default "zero" point, which should be 0.
int	getMeasurementInterval() Returns the time interval between measurements in continuous mode.
int	getScaleFactor() Gets the scale factor, which produces either cm's, inches, or some other unit.
void	setMeasurementInterval(byte interval) Sets the time interval between measurements in continuous mode.
void	setScaleFactor(byte scale) Sets the scale factor, producing either cm's, inches, or some other unit.
void	setSensorMode(byte modeEnumeration) Sets the state for the sensor. e.g. off, single pulse, continuous, passive, warm reset.
protected void	startUltrasonicThread()
protected void	stopUltrasonicThread()

Methods inherited from class ch.aplu.nxt.I2CSensor

fetchString, getData, init, sendData, sendData

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

Field Detail

OFF

public static byte OFF

Turn off sensor.

SINGLE_SHOT

public static byte SINGLE_SHOT

Sensor sends out one ping and records result.

CONTINUOUS_MEASUREMENT

public static byte CONTINUOUS_MEASUREMENT

Sensor making continuous readings at set intervals.

EVENT_CAPTURE

public static byte EVENT_CAPTURE

Puts the sensor in passive mode to record pings that might come from other sonar sensors.

REQUEST_WARM_RESET

public static byte REQUEST_WARM_RESET

Resets the sensor.

Constructor Detail

UltrasonicSensor

public UltrasonicSensor(SensorPort port)

Creates a sensor instance connected to the given port.

Parameters:

port - the port where the sensor is plugged-in

UltrasonicSensor

public UltrasonicSensor()

Creates a sensor instance connected to port S1.

Method Detail

setSensorMode

public void setSensorMode(byte modeEnumeration)

Sets the state for the sensor. e.g. off, single pulse, continuous, passive, warm reset.

Parameters:

modeEnumeration - e.g. OFF, SINGLE_SHOT, CONTINUOUS_MEASUREMENT, EVENT_CAPTURE, REQUEST_WARM_RESET

cleanup

protected void cleanup()

Overrides:

cleanup in class I2CSensor

addUltrasonicListener

public void addUltrasonicListener(UltrasonicListener ultrasonicListener,
                                  int triggerLevel)

Registers the given ultrasonic listener for the given trigger level. If the touch thread is not yet started, start it now.

Parameters:

ultrasonicListener - the UltrasonicListener to become registered.

triggerLevel - the trigger level where the callback is triggered

startUltrasonicThread

protected void startUltrasonicThread()

stopUltrasonicThread

protected void stopUltrasonicThread()

getDistance

public int getDistance()

Polls the sensor.

Returns:

the current distance to the closest object in cm

getDistances

public byte[] getDistances()

The ultrasonic sensor is capable of sending a ping and recording up to 8 echoes. A SINGLE_SHOT command is used, rather than continuous pings. This method returns an array of up to 8 distances picked up by the UltrasonicSensor sensor.

Returns:

eight distance values, mostly will be 0.

getMeasurementInterval

public int getMeasurementInterval()

Returns the time interval between measurements in continuous mode.

Returns:

the time 0 .. 255 in ms

setScaleFactor

public void setScaleFactor(byte scale)

Sets the scale factor, producing either cm's, inches, or some other unit.

Parameters:

scale - a number 0 .. 255

calibrate

public void calibrate(byte scaleFactor,
                      byte scaleDivisor,
                      byte zero)

Calibrates the sensor. If your sensor readings seem off, you can calibrate the sensor to make it different from factory settings.

Parameters:

scaleFactor - Raw reading is multiplied by this number. 1 = factory setting

scaleDivisor - Raw reading divides by this number. 14 = factory setting

zero - e.g. If you find the real distance is 10 cm and the sensor says 12 cm you can adjust the zero. 0 = factory setting

getScaleFactor

public int getScaleFactor()

Gets the scale factor, which produces either cm's, inches, or some other unit.

Returns:

the scale factor 0 .. 255

getFactoryScaleFactor

public int getFactoryScaleFactor()

Gets the default scale factor, which produces either cm's, inches, or some other unit.

Returns:

the scale factor 0 .. 255

getFactoryScaleDivisor

public int getFactoryScaleDivisor()

Gets the default scale divisor, which produces either cm's, inches, or some other unit.

Returns:

the scale divisor 0 .. 255

getFactoryZero

public int getFactoryZero()

Gets the default "zero" point, which should be 0.

Returns:

the zero point

setMeasurementInterval

public void setMeasurementInterval(byte interval)

Sets the time interval between measurements in continuous mode.

Parameters:

interval - the time interval in ms (0 .. 255)