ch.aplu.nxt

Class NxtRobot

java.lang.Object

ch.aplu.nxt.LegoRobot

ch.aplu.nxt.NxtRobot

All Implemented Interfaces:

SharedConstants

public class NxtRobot
extends LegoRobot

Class that represents a NXT robot brick. Parts (e.g. motors, sensors) may be assembled into the robot to make it doing the desired job.

More than one instance may be created. They are identified by different Bluetooth names (or addresses).

The Bluetooth communication uses the Bluecove library and is fully standalone and portable. No serial port emulation (RFCOMM) and no Bluetooth Control Center (BCC) is used. The Bluecove library supports only interfaces with Widcomm compatibility. If more than one brick is used at the same time, the Bluetooth interface must be capable to establish more than one Bluetooth link (e.g. Anycom USB adapter, Part.No: CC-3036).

NxtJlib implements the usual Java event handling model using event listeners and adapters. The sensors are polled at a regular interval from a internal thread and the registered callback method is invoked, when the event condition is fullfilled (e.g. sensor value crosses a given trigger level).

Many library options are defined in a property file 'nxtjlib.properties' that may be modified as needed. The property file is searched in the following order:
- Application directory (user.dir)
- Home directory (user.home)
- NxtJLib.jar (distribution)

As soon as the property file is found, the search is cancelled. This allows to use a personalized property file without deleting or modifing the distributed file in NxtJLib.jar. Consult the distributed file for more information. Be careful to keep the original formatting.

If the property KeepAlive is set to 1, a thread is started that sends keep alive commands every 500 s in order to prevent the automatic shutdown of the NXT.

The library is carefully tested with the leJOS firmware. The Lego firmware is almost 100% compatible, but some special operations may fail (e.g. the motor count)

For backward compatibility with pre-EV3 programs.

Nested Class Summary

Nested classes/interfaces inherited from class ch.aplu.nxt.LegoRobot

LegoRobot.ClosingMode

Field Summary

Fields inherited from class ch.aplu.nxt.LegoRobot

isConnecting

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

Constructors

Constructor and Description
NxtRobot() Asks for the Bluetooth name and creates a NxtRobot instance.
NxtRobot(long btAddress) Creates a NxtRobot instance with given Bluetooth address.
NxtRobot(long btAddress, boolean connect) Creates a NxtRobot instance with given Bluetooth address.
NxtRobot(java.lang.String btName) Creates a NxtRobot instance with given Bluetooth name.
NxtRobot(java.lang.String btName, boolean connect) Creates a NxtRobot instance with given Bluetooth name.

Method Summary

Methods inherited from class ch.aplu.nxt.LegoRobot

addPart, clearDisplay, connect, connect, connect, disconnect, drawString, drawStringAt, exit, fileExists, findFirst, findNext, getAbout, getBatteryLevel, getBtAddress, getBtAddressLong, getBtName, getDebugLevel, getFriendlyName, getHitButtonID, getInputStream, getOutputStream, getProperties, getStreamConnection, getVersion, isButtonHit, isButtonListenerRunning, isConnected, isDownHit, isEnterHit, isEscapeHit, isLeftHit, isRightHit, isRunning, isUpHit, keepAlive, playConnectMelody, playDisconnectMelody, playTone, readData, requestData, reset, sendData, setChannel, startButtonListener, startProgram, stopButtonListener

Methods inherited from class java.lang.Object

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

Constructor Detail

NxtRobot

public NxtRobot(java.lang.String btName,
        boolean connect)

Creates a NxtRobot instance with given Bluetooth name. If connect is true, a connection trial is engaged while an information pane is shown. If the connection fails, the calling thread will be put in a wait state and the program hangs. The user can then terminate the application by closing the information pane. established at this time.

If connect = false, no connection trial is engaged at this time and connect() should be used. If any method that needs the connection is invoked before connect() is called, the connection is automatically established.

If btName = null, a input dialog is displayed where the Bluetooth name can be entered.

No connection pane is shown, if connect = false and connect(false) is called.

Parameters:

btName - the Bluetooth friendly name of the brick, e.g. "NXT"

connect - if true, a connection trial is engaged

NxtRobot

public NxtRobot(java.lang.String btName)

Creates a NxtRobot instance with given Bluetooth name. A connection trial is engaged while an information pane is shown. If the connection fails, the calling thread will be put in a wait state and the program hangs. The user can then terminate the application by closing the information pane.

If btName = null, a input dialog is displayed where the Bluetooth name can be entered.

Parameters:

btName - the Bluetooth friendly name of the brick, e.g. "NXT"

NxtRobot

public NxtRobot(long btAddress,
        boolean connect)

Creates a NxtRobot instance with given Bluetooth address. If connect is true, a connection trial is engaged while an information pane is shown. If the connection fails, the calling thread will be put in a wait state and the program hangs. The user can then terminate the application by closing the information pane. If connect = false, no connection trial is engaged at this time and connect() should be used. If any method that needs the connection is invoked before connect() is called, the connection is automatically established.

No connection pane is shown, if connect = false and connect(false) is called.

Parameters:

btAddress - the Bluetooth address of the brick, e.g. 0x0000A762B001

connect - if true, a connection trial is engaged

NxtRobot

public NxtRobot(long btAddress)

Creates a NxtRobot instance with given Bluetooth address. A connection trial is engaged while an information pane is shown. If the connection fails, the calling thread will be put in a wait state and the program hangs. The user can then terminate the application by closing the information pane.

Parameters:

btAddress - the Bluetooth address of the brick, e.g. 0x0000A762B001

NxtRobot

public NxtRobot()

Asks for the Bluetooth name and creates a NxtRobot instance. The initial value for the name is read from the nxtjlib.properties file. In J2ME the modified name is stored in the RMS and reread at the next program execution. A connection trial is engaged while an information pane is shown. If the connection fails, the calling thread will be put in a wait state and the program hangs. The user can then terminate the application by closing the information pane.