ch.aplu.nxt
Class NxtRobot

java.lang.Object
  ch.aplu.nxt.NxtRobot

All Implemented Interfaces:

SharedConstants

Direct Known Subclasses:

TurtleRobot

public class NxtRobot
extends java.lang.Object
implements SharedConstants

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.

Field Summary

Fields inherited from interface ch.aplu.nxt.SharedConstants

ABOUT, ACCELEROMETERPOLLDELAY, ANGLE, ANGLESTEPSMODE, AXELENGTH, BOOLEANMODE, BOOT, BRAKE, BRAKEDELAY, CELSIUSMODE, CLOSE, COLORPOLLDELAY, COMPASSPOLLDELAY, CRAWLERROTATIONFACTOR, CRAWLERROTATIONSPEED, CRAWLERSPEED, CRAWLERSTEPFACTOR, CUSTOM, DEBUG_LEVEL_HIGH, DEBUG_LEVEL_LOW, DEBUG_LEVEL_MEDIUM, DEBUG_LEVEL_OFF, DEBUGLEVEL, DELETE, DELETE_USER_FLASH, DIRECT_COMMAND_NOREPLY, DIRECT_COMMAND_REPLY, FAHRENHEITMODE, FIND_FIRST, FIND_NEXT, GEARSPEED, GET_BATTERY_LEVEL, GET_CURRENT_PROGRAM_NAME, GET_DEVICE_INFO, GET_FIRMWARE_VERSION, GET_INPUT_VALUES, GET_OUTPUT_STATE, GYROPOLLDELAY, HIGH_SPEED_BUFFER, INFRAREDSEEKERPOLLDELAY, KEEP_ALIVE, LIGHT_ACTIVE, LIGHT_INACTIVE, LIGHTPOLLDELAY, LOWSPEED, LOWSPEED_9V, LS_GET_STATUS, LS_READ, LS_WRITE, MESSAGE_READ, MESSAGE_WRITE, MODEMASK, MOTIONDETECTORPOLLDELAY, MOTOR_RUN_STATE_IDLE, MOTOR_RUN_STATE_RAMPDOWN, MOTOR_RUN_STATE_RAMPUP, MOTOR_RUN_STATE_RUNNING, MOTORON, MOTORSPEED, MOTORSPEEDFACTOR, MOTORSPEEDMULTIPLIER, NO_OF_SENSOR_TYPES, NO_SENSOR, 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, PROTOTYPEPOLLDELAY, RAWMODE, READ, REFLECTION, REGULATED, REGULATION_MODE_IDLE, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_MOTOR_SYNC, REPLY_COMMAND, RESET_MOTOR_POSITION, RESET_SCALED_INPUT_VALUE, RFIDPOLLDELAY, SENSOREVENTDELAY, SET_BRICK_NAME, SET_INPUT_MODE, SET_OUTPUT_STATE, SLOPEMASK, SOUND_DB, SOUND_DBA, SOUNDPOLLDELAY, START_PROGRAM, STOP_PROGRAM, STOP_SOUND_PLAYBACK, SWITCH, SYSTEM_COMMAND_NOREPLY, SYSTEM_COMMAND_REPLY, TEMPERATURE, TITLE, TITLEMP, TOUCHPOLLDELAY, TRANSITIONCNTMODE, TURTLEROTATIONFACTOR, TURTLEROTATIONSPEED, TURTLESPEED, TURTLESTEPFACTOR, ULTRASONICPOLLDELAY, VERSION, WRITE

Constructor Summary

NxtRobot()
Creates an instance of NxtRobot continues execution normally.

NxtRobot(boolean waitStart)
Creates an instance of NxtRobot and and delays execution until the user presses the ENTER button.

Method Summary

void	addPart(Part part) Assembles the given part into the robot.
void	exit() Calls cleanup() of all sensors, stops any running motor and terminates the running program.
double	getBatteryLevel() Returns the battery level.
static java.lang.String	getVersion() Returns library version information.
void	playTone(int frequency, int duration) Plays a tone of given frequency (in Hz) for the given duration (in ms).

Methods inherited from class java.lang.Object

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

Constructor Detail

NxtRobot

public NxtRobot(boolean waitStart)

Creates an instance of NxtRobot and and delays execution until the user presses the ENTER button.

Parameters:

waitStart - if true, the execution is stopped until the ENTER button is hit.

NxtRobot

public NxtRobot()

Creates an instance of NxtRobot continues execution normally.

Method Detail

addPart

public void addPart(Part part)

Assembles the given part into the robot. If already connected, initialize the part.

Parameters:

part - the part to assemble

getBatteryLevel

public double getBatteryLevel()

Returns the battery level.

Returns:

voltage (in Volt)

getVersion

public static java.lang.String getVersion()

Returns library version information.

Returns:

library version

exit

public void exit()

Calls cleanup() of all sensors, stops any running motor and terminates the running program.

playTone

public void playTone(int frequency,
                     int duration)

Plays a tone of given frequency (in Hz) for the given duration (in ms). The method returns immediately. In order to play a melody, the program should be delayed (using Tools.delay()) for an appropriate duration.

Parameters:

frequency - the frequency in Hertz

duration - the duration in milliseconds