ch.aplu.nxt

Class CompassSensor

java.lang.Object

ch.aplu.nxt.Part

ch.aplu.nxt.Sensor

ch.aplu.nxt.I2CSensor

ch.aplu.nxt.CompassSensor

All Implemented Interfaces:

SharedConstants

public class CompassSensor
extends I2CSensor

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

Field Summary

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, WRITE

Constructor Summary

Constructors

Constructor and Description
CompassSensor() Creates a sensor instance connected to port S1 at location with 50 Hz household current frequency (e.g.
CompassSensor(SensorPort port) Creates a sensor instance connected to the given port at location with 50 Hz household current frequency (e.g.
CompassSensor(SensorPort port, boolean is50) Creates a sensor instance connected to the given port at location with either 50 Hz or 60 Hz household current frequency.

Method Summary

Methods

Modifier and Type	Method and Description
void	addCompassListener(CompassListener compassListener) Registers the given compass listener with default trigger level 180.
void	addCompassListener(CompassListener compassListener, int triggerLevel) Registers the given compass listener for the given trigger level.
byte[]	getData(byte register, int length) Overrides I2CSensor.getData() because of unreliability when retrieving more than a single byte at a time with some I2C sensors.
double	getDegrees() Polls the sensor.
int	setTriggerLevel(int triggerLevel) Sets a new trigger level and returns the previous one.
void	startCalibration() Starts calibration process.
void	stopCalibration() Stops calibration process.

Methods inherited from class ch.aplu.nxt.I2CSensor

getProductID, getSensorType, getVersion, sendData, sendData

Methods inherited from class java.lang.Object

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

Constructor Detail

CompassSensor

public CompassSensor(SensorPort port,
             boolean is50)

Creates a sensor instance connected to the given port at location with either 50 Hz or 60 Hz household current frequency.

Parameters:

port - the port where the sensor is plugged-in

is50 - true, if current frequency is 50 Hz (e.g. Europe) false, if current frequency is 60 Hz (e.g. USA)

CompassSensor

public CompassSensor(SensorPort port)

Creates a sensor instance connected to the given port at location with 50 Hz household current frequency (e.g. Europe).

Parameters:

port - the port where the sensor is plugged-in

CompassSensor

public CompassSensor()

Creates a sensor instance connected to port S1 at location with 50 Hz household current frequency (e.g. Europe).

Method Detail

addCompassListener

public void addCompassListener(CompassListener compassListener,
                      int triggerLevel)

Registers the given compass listener for the given trigger level.

Parameters:

compassListener - the CompassListener to become registered.

triggerLevel - the trigger level where the callback is triggered

addCompassListener

public void addCompassListener(CompassListener compassListener)

Registers the given compass listener with default trigger level 180.

Parameters:

compassListener - the CompassListener to become registered.

setTriggerLevel

public int setTriggerLevel(int triggerLevel)

Sets a new trigger level and returns the previous one.

Parameters:

triggerLevel - the new trigger level

Returns:

the previous trigger level

getDegrees

public double getDegrees()

Polls the sensor.

Returns:

the current compass reading (0..<360 clockwise, 0 to north)

startCalibration

public void startCalibration()

Starts calibration process. Needs at least 2 full revolutions with at least 20 s per rotation before stopCalibration() is called. The compass sensor should be in a horizontal position with no ferromagnetica in the neighbourhood (e.g. floor heating tubes).

See Also:

stopCalibration()

stopCalibration

public void stopCalibration()

Stops calibration process.

See Also:

startCalibration()

getData

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

Overrides I2CSensor.getData() because of unreliability when retrieving more than a single byte at a time with some I2C sensors.

Overrides:

getData in class I2CSensor

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