ch.aplu.ev3

Class SuperProSensor

java.lang.Object

ch.aplu.ev3.Part

ch.aplu.ev3.Sensor

ch.aplu.ev3.I2CSensor

ch.aplu.ev3.SuperProSensor

public class SuperProSensor
extends I2CSensor

Class that represents a SuperPro prototype sensor (HiTechnic NXT SuperPro Prototype Board).

The following I2C register layout is assumed:
Device address 0x10
0x00-0x07 Version number
0x08-0x0F Manufacturer
0x10-0x17 Sensor type
0x42 Analog input channel 0, pin A0, upper 8bits
0x43 Analog input channel 0, pin A0, lower 2bits
0x44 Analog input channel 1, pin A1, upper 8bits
0x45 Analog input channel 1, pin A1, lower 2bits
0x46 Analog input channel 2, pin A2, upper 8bits
0x47 Analog input channel 2, pin A2, lower 2bits
0x48 Analog input channel 3, pin A3, upper 8bits
0x49 Analog input channel 3, pin A3, lower 2bits
0x4C Digital input channels, bits 0..7
0x4D Digitag output channels, bits 0..7
0x4E Digital control, bits 0..7, low: input (default), high: output
0x50 Strobe output, bits 0..3
0x51 LED control, bits 0..3
0x52 Analog output channel 0 mode
0x53 Analog output channel 0 frequency, upper 5bits
0x54 Analog output channel 0 frequency, lower 8bits
0x55 Analog output channel 0 voltage, upper 8bits (exotic!)
0x56 Analog output channel 0 voltage, lower 2bits (exotic!)
0x57 Analog output channel 1 mode
0x58 Analog output channel 1 frequency, upper 5bits
0x59 Analog output channel 1 frequency, lower 8bits
0x5A Analog output channel 1 voltage, upper 8bits (exotic!)
0x5B Analog output channel 1 voltage, lower 2bits (exotic!)
Analog inputs in range 0..3.3V, 10 bit (0..1023)
Digital inputs/outputs 0/3.3V, pins B0..B5, max. 12mA per output (high or low)
The inputs must stay within the 0 - 3.3V range. If this is not observed, damage will occur. The inputs are 3.3V CMOS compatible: low: < 1.0V high: > 2.3V.

Strobe outputs 0..3 general purpose digital output
Strobe output WR: rectangle pulse of approx. 0.5 us length (3V approx.) at every write action to digital out (B0..B7 ports)
Strobe output RD: rectangle pulse of approx. 0.5 us length (3V approx.) at every read action of digital in (B0..B7 ports)
Analog output frequency 1..8191 Hz
Analog output voltage 0..3.3 V (0..1023), centered on the 1.65 V
Analog output modes:
0: DC
1: sine wave
2: square wave
3: positive sawtooth
4: negative sawtooth
5: triangle wave
6: pulse width modulation

For PWM mode the output voltage is fixed to 3.3 V and the voltage parameter defines the duty cycle r = voltage / frequency

The device is powered by the EV3 connector, so no other external power supply is necessary.

Constructor Summary

Constructors

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

Method Summary

Methods

Modifier and Type	Method and Description
void	read(int[] ain, int[] din) Reads the sensor.
void	readAnalog(int[] ain) Reads the analog input of the sensor.
void	readDigital(int[] din) Reads the sensor.
void	setAnalogOut0(int mode, int frequency, int voltage) Enables the digital output at port O0.
void	setAnalogOut1(int mode, int frequency, int voltage) Enables the digital output at port O1.
void	setDCOut0(int frequency, int voltage) Same as setAnalogOut0(type, frequency, voltage) with type = 0.
void	setDCOut1(int frequency, int voltage) Same as setAnalogOut1(type, frequency, voltage) with type = 9.
void	setDIO(int[] ioControl) Sets the direction of the 8 digital input/output channels.
void	setDIOMask(int mask) Sets the direction of the 8 digital input/output channels.
void	setLED(int ledControl) Turn the given onboard LED on.
void	setNegSawtoothOut0(int frequency, int voltage) Same as setAnalogOut0(type, frequency, voltage) with type = 4.
void	setNegSawtoothOut1(int frequency, int voltage) Same as setAnalogOut1(type, frequency, voltage) with type = 4.
void	setPosSawtoothOut0(int frequency, int voltage) Same as setAnalogOut0(type, frequency, voltage) with type = 3.
void	setPosSawtoothOut1(int frequency, int voltage) Same as setAnalogOut1(type, frequency, voltage) with type = 3.
void	setPWMOut0(int frequency, int duty) Same as setAnalogOut0(type, frequency, voltage) with type = 6.
void	setPWMOut1(int frequency, int duty) Same as setAnalogOut1(type, frequency, voltage) with type = 6.
void	setSineOut0(int frequency, int voltage) Same as setAnalogOut0(type, frequency, voltage) with type = 1.
void	setSineOut1(int frequency, int voltage) Same as setAnalogOut1(type, frequency, voltage) with type = 1.
void	setSquareOut0(int frequency, int voltage) Same as setAnalogOut0(type, frequency, voltage) with type = 2.
void	setSquareOut1(int frequency, int voltage) Same as setAnalogOut1(type, frequency, voltage) with type = 2.
void	setTriangleOut0(int frequency, int voltage) Same as setAnalogOut0(type, frequency, voltage) with type = 5.
void	setTriangleOut1(int frequency, int voltage) Same as setAnalogOut1(type, frequency, voltage) with type = 5.
void	write(int[] dout) Writes the given bit state (low/high) to the digital output channels.
void	writeByte(int value) Writes the lower byte of the given int value to the digital output channels.
void	writeStrobe(int[] sout) Writes the given bit state (low/high) to the strobe output channels.
void	writeStrobeByte(int value) Writes the lower half byte (lower 4 bits) of the given value to the strobe output channels.

Methods inherited from class ch.aplu.ev3.I2CSensor

getData, getData, getLejosI2CSensor, getProductID, getVersion, sendData, sendData, sendData

Methods inherited from class ch.aplu.ev3.Sensor

getLejosPort

Methods inherited from class java.lang.Object

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

Constructor Detail

SuperProSensor

public SuperProSensor(SensorPort port)

Creates a sensor instance connected to the given port. (default: all digital channels as input)

Parameters:

port - the port where the sensor is plugged-in

SuperProSensor

public SuperProSensor()

Creates a sensor instance connected to port S1. (default: all digital channels as input)

Method Detail

setDIO

public void setDIO(int[] ioControl)

Sets the direction of the 8 digital input/output channels.

Parameters:

ioControl - the direction of each channel. 0: input, 1: output (default: all digital channels as input)

setDIOMask

public void setDIOMask(int mask)

Sets the direction of the 8 digital input/output channels. The bit #n corresponds to channel #n; bit value 0: input, 1: output (default: all digital channels as input)

Parameters:

mask - the bit mask

readAnalog

public void readAnalog(int[] ain)

Reads the analog input of the sensor. Analog input data 0..1023 (corresponding to 0..3.3 V) are returned in the given ain.

Parameters:

ain - an integer array of length 4 where to get the analog values

readDigital

public void readDigital(int[] din)

Reads the sensor. Digital input data 0 (corresponds to low state, 0 V) or 1 (corresponds to high state, 3.3 V) is returned in the given din. For digital channels defined as outputs -1 is returned.

Parameters:

din - an integer array of length 8 where to get the values

read

public void read(int[] ain,
        int[] din)

Reads the sensor. Analog input data 0..1023 (corresponding to 0..3.3 V) are returned in the given ain, digital input data (0, 1) in the given din. For digital channels defined as outputs -1 is returned.

Parameters:

ain - an integer array of length 4 where to get the analog values

din - an integer array of length 8 where to get the digital values

writeByte

public void writeByte(int value)

Writes the lower byte of the given int value to the digital output channels. Only channels set as output will be affected. Input channel bits are ignored.

Parameters:

value - the lower 8 bits are written to the digital output channel.

write

public void write(int[] dout)

Writes the given bit state (low/high) to the digital output channels. Only channels set as output will be affected. Input channel bits are ignored.

Parameters:

dout - an integer array of length 8 that holds the bit state: 0->low, 1->high

writeStrobeByte

public void writeStrobeByte(int value)

Writes the lower half byte (lower 4 bits) of the given value to the strobe output channels.

Parameters:

value - the lower 4 bits are written to the strobe output channel.

writeStrobe

public void writeStrobe(int[] sout)

Writes the given bit state (low/high) to the strobe output channels.

Parameters:

sout - an integer array of length 4 that holds the bit state: 0->low, 1->high

setLED

public void setLED(int ledControl)

Turn the given onboard LED on. When the program terminates, the current state of the LEDs is maintained. ledControl = 0->both LEDs off
ledControl = 1->red LED on, green LED off
ledControl = 2->red LED off, green LED on
ledControl = 3->both LEDs on

Parameters:

ledControl - 0..3

setAnalogOut0

public void setAnalogOut0(int mode,
                 int frequency,
                 int voltage)

Enables the digital output at port O0. The following modes are available:
0: DC voltage level 1: Sine wave 2: Square wave 3: Positive going sawtooth 4: Negative going sawtooth 5: Triangle wave 6: PWM voltage Once the output is enabled, it remains active even when the program terminates.

Parameters:

mode - the mode (0..6)

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V). For PWM mode the output voltage is fixed to 3.3 V and the voltage parameter defines the duty cycle r = voltage / frequency

setDCOut0

public void setDCOut0(int frequency,
             int voltage)

Same as setAnalogOut0(type, frequency, voltage) with type = 0. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setSineOut0

public void setSineOut0(int frequency,
               int voltage)

Same as setAnalogOut0(type, frequency, voltage) with type = 1. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setSquareOut0

public void setSquareOut0(int frequency,
                 int voltage)

Same as setAnalogOut0(type, frequency, voltage) with type = 2. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setPosSawtoothOut0

public void setPosSawtoothOut0(int frequency,
                      int voltage)

Same as setAnalogOut0(type, frequency, voltage) with type = 3. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setNegSawtoothOut0

public void setNegSawtoothOut0(int frequency,
                      int voltage)

Same as setAnalogOut0(type, frequency, voltage) with type = 4. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setTriangleOut0

public void setTriangleOut0(int frequency,
                   int voltage)

Same as setAnalogOut0(type, frequency, voltage) with type = 5. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setPWMOut0

public void setPWMOut0(int frequency,
              int duty)

Same as setAnalogOut0(type, frequency, voltage) with type = 6. Once the output is enabled, it remains active even when the program terminates. For PWM mode the output voltage is fixed to 3.3 V.

Parameters:

frequency - the frequency in Hertz (1..8191)

duty - used to set the duty cycle r = duty / frequency

setAnalogOut1

public void setAnalogOut1(int mode,
                 int frequency,
                 int voltage)

Enables the digital output at port O1. The following modes are available:
0: DC voltage level 1: Sine wave 2: Square wave 3: Positive going sawtooth 4: Negative going sawtooth 5: Triangle wave 6: PWM voltage Once the output is enabled, it remains active even when the program terminates.

Parameters:

mode - the mode (0..6)

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V). For PWM mode the output voltage is fixed to 3.3 V and the voltage parameter defines the duty cycle r = voltage / frequency

setDCOut1

public void setDCOut1(int frequency,
             int voltage)

Same as setAnalogOut1(type, frequency, voltage) with type = 9. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setSineOut1

public void setSineOut1(int frequency,
               int voltage)

Same as setAnalogOut1(type, frequency, voltage) with type = 1. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setSquareOut1

public void setSquareOut1(int frequency,
                 int voltage)

Same as setAnalogOut1(type, frequency, voltage) with type = 2. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setPosSawtoothOut1

public void setPosSawtoothOut1(int frequency,
                      int voltage)

Same as setAnalogOut1(type, frequency, voltage) with type = 3. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setNegSawtoothOut1

public void setNegSawtoothOut1(int frequency,
                      int voltage)

Same as setAnalogOut1(type, frequency, voltage) with type = 4. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setTriangleOut1

public void setTriangleOut1(int frequency,
                   int voltage)

Same as setAnalogOut1(type, frequency, voltage) with type = 5. Once the output is enabled, it remains active even when the program terminates.

Parameters:

frequency - the frequency in Hertz (1..8191)

voltage - the peak-to-peak voltage (0..1021 corresponding to 0..3.3 V centered at 1.65 V)

setPWMOut1

public void setPWMOut1(int frequency,
              int duty)

Same as setAnalogOut1(type, frequency, voltage) with type = 6. Once the output is enabled, it remains active even when the program terminates. For PWM mode the output voltage is fixed to 3.3 V.

Parameters:

frequency - the frequency in Hertz (1..8191)

duty - used to set the duty cycle r = duty / frequency