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:

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

Method Summary

Methods

Modifier and Type	Method and Description
byte[]	getData(byte register, int length) Retrieves data from the sensor.
java.lang.String	getProductID() Returns the Product ID as a string.
java.lang.String	getSensorType() Returns the type of sensor as a string.
java.lang.String	getVersion() Returns the version number of the sensor hardware.
void	sendData(byte register, byte value) Sets a single byte in the I2C sensor.
void	sendData(byte register, byte value1, byte value2) Sets two consecutive bytes in the I2C sensor.

Methods inherited from class java.lang.Object

equals, 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

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. (Fails to work with some I2C sensors.)

Parameters:

register - the data register in the I2C sensor

value - the data sent to the sensor

sendData

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

Sets two consecutive bytes in the I2C sensor. (Fails to work with some I2C sensors.)

Parameters:

register - the first data register in the I2C sensor

value1 - the first data value sent to the sensor

value2 - the second data value sent to the sensor

getVersion

public java.lang.String getVersion()

Returns the version number of the sensor hardware.

Returns:

The version number. e.g. "V1.0"

getProductID

public java.lang.String getProductID()

Returns the Product ID as a string.

Returns:

The product ID, e.g. "LEGO"

getSensorType

public java.lang.String getSensorType()

Returns the type of sensor as a string.

Returns:

The sensor type. e.g. "Sonar"