lejos.nxt
Class I2CSensor

java.lang.Object
  lejos.nxt.I2CSensor

All Implemented Interfaces:

SensorConstants

Direct Known Subclasses:

ColorSensor, CompassSensor, IRLink, IRSeeker, LMotor, LSC, MSC, MServo, NXTCam, NXTe, NXTLineLeader, OpticalDistanceSensor, PFLink, PFMate, PSPNXController, RCXLink, RCXMotorMultiplexer, RCXSensorMultiplexer, RFIDSensor, TiltSensor, UltrasonicSensor

public class I2CSensor
extends java.lang.Object
implements SensorConstants

A sensor wrapper to allow easy access to I2C sensors, like the ultrasonic sensor. This version of this class supports remote execution of I2C.

Author:

Brian Bagnall and Lawrie Griffiths

Field Summary

protected byte	address
protected static java.lang.String	BLANK
protected static byte	PRODUCT_ID Returns the product ID of the sensor.
protected static byte	SENSOR_TYPE Returns the sensor type.
protected static byte	STOP
protected static byte	VERSION Returns the version number of the sensor.

Fields inherited from interface lejos.nxt.SensorConstants

MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE

Constructor Summary

I2CSensor(I2CPort s)

I2CSensor(I2CPort s, byte sensorType)

Method Summary

protected java.lang.String	fetchString(int constantEnumeration, int rxLength) Helper method for retrieving string constants using I2C protocol.
int	getData(int register) Helper method to return a single register byte.
int	getData(int register, byte[] buf, int length) Method for retrieving data values from the sensor.
int	getId()
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.
int	sendData(int register, byte value) Sets a single byte in the I2C sensor.
int	sendData(int register, byte[] data, int length) Send data top the sensor
void	setAddress(int addr) Set the address of the port Note that addresses are from 0x01 to 0x7F not even numbers from 0x02 to 0xFE as given in some I2C device specifications.

Methods inherited from class java.lang.Object

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

Field Detail

address

protected byte address

STOP

protected static byte STOP

BLANK

protected static java.lang.String BLANK

VERSION

protected static byte VERSION

Returns the version number of the sensor. e.g. "V1.0" Reply length = 8.

PRODUCT_ID

protected static byte PRODUCT_ID

Returns the product ID of the sensor. e.g. "LEGO" Reply length = 8.

SENSOR_TYPE

protected static byte SENSOR_TYPE

Returns the sensor type. e.g. "Sonar" Reply length = 8.

Constructor Detail

I2CSensor

public I2CSensor(I2CPort s,
                 byte sensorType)

Parameters:

s - A sensor. e.g. Port.S1

I2CSensor

public I2CSensor(I2CPort s)

Method Detail

getId

public int getId()

getData

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

Method for retrieving data values from the sensor. BYTE0 ( is usually the primary data value for 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 UBYTE (unsigned byte) values but Java converts them into signed bytes (probably more practical to return short/int?)

Parameters:

register - e.g. FACTORY_SCALE_DIVISOR, BYTE0, etc....

length - Length of data to read (minimum 1, maximum 16)

Returns:

the status

getData

public int getData(int register)

Helper method to return a single register byte.

Parameters:

register -

Returns:

the byte of data

sendData

public int sendData(int register,
                    byte value)

Sets a single byte in the I2C sensor.

Parameters:

register - A data register in the I2C sensor. e.g. ACTUAL_ZERO

value - The data value.

sendData

public int sendData(int register,
                    byte[] data,
                    int length)

Send data top the sensor

Parameters:

register - A data register in the I2C sensor.

data - The byte to send.

length - the number of bytes

getVersion

public java.lang.String getVersion()

Returns the version number of the sensor hardware. NOTE: A little unreliable at the moment due to a bug in firmware. Keep trying if it doesn't get it the first time.

Returns:

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

getProductID

public java.lang.String getProductID()

Returns the Product ID as a string. NOTE: A little unreliable at the moment due to a bug in firmware. Keep trying if it doesn't get it the first time.

Returns:

The product ID. e.g. "LEGO"

getSensorType

public java.lang.String getSensorType()

Returns the type of sensor as a string. NOTE: A little unreliable at the moment due to a bug in firmware. Keep trying if it doesn't get it the first time.

Returns:

The sensor type. e.g. "Sonar"

fetchString

protected java.lang.String fetchString(int constantEnumeration,
                                       int rxLength)

Helper method for retrieving string constants using I2C protocol.

Parameters:

constantEnumeration - e.g. I2CProtocol.VERSION

rxLength -

Returns:

the string

setAddress

public void setAddress(int addr)

Set the address of the port Note that addresses are from 0x01 to 0x7F not even numbers from 0x02 to 0xFE as given in some I2C device specifications. They are 7-bit addresses not 8-bit addresses.

Parameters:

addr - 1 to 0x7F