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

Method Summary

Methods

Modifier and Type	Method and Description
void	addUltrasonicListener(UltrasonicListener ultrasonicListener) Registers the given ultrasonic listener with default trigger level 20.
void	addUltrasonicListener(UltrasonicListener ultrasonicListener, int triggerLevel) Registers the given ultrasonic listener for the given trigger level.
void	eraseBeamArea() Erases the beam area (if it is currently shown).
int	getDistance() Polls the sensor.
void	setBeamAreaColor(java.awt.Color color) Sets the color of the beam area (two sector border lines and axis).
void	setMeshTriangleColor(java.awt.Color color) Sets the color of the triangle mesh lines.
void	setProximityCircleColor(java.awt.Color color) Sets the color of the circle with center at sensor location and radius equals to the current distance value.
int	setTriggerLevel(int triggerLevel) Sets a new trigger level and returns the previous one.

Methods inherited from class ch.aplu.nxt.I2CSensor

getData, getProductID, getSensorType, getVersion, sendData, sendData

Methods inherited from class java.lang.Object

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

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

getDistance

public int getDistance()

Polls the sensor.

Returns:

the current distance to the closest object in cm

addUltrasonicListener

public void addUltrasonicListener(UltrasonicListener ultrasonicListener,
                         int triggerLevel)

Registers the given ultrasonic listener for the given trigger level.

Parameters:

ultrasonicListener - the UltrasonicListener to become registered.

triggerLevel - the trigger level where the callback is triggered

addUltrasonicListener

public void addUltrasonicListener(UltrasonicListener ultrasonicListener)

Registers the given ultrasonic listener with default trigger level 20.

Parameters:

ultrasonicListener - the UltrasonicListener 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

setMeshTriangleColor

public void setMeshTriangleColor(java.awt.Color color)

Sets the color of the triangle mesh lines. Empty method for compatibility with NxtSim.

Parameters:

color - the color of the mesh

setBeamAreaColor

public void setBeamAreaColor(java.awt.Color color)

Sets the color of the beam area (two sector border lines and axis). Empty method for compatibility with NxtSim.

Parameters:

color - the color of the beam area

eraseBeamArea

public void eraseBeamArea()

Erases the beam area (if it is currently shown). Empty method for compatibility with NxtSim.

setProximityCircleColor

public void setProximityCircleColor(java.awt.Color color)

Sets the color of the circle with center at sensor location and radius equals to the current distance value. If value = 0, no circle is shown. Empty method for compatibility with NxtSim.

Parameters:

color - the color of the circle