Package lejos.hardware.device

Class MSC

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.device.MSC

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, SensorConstants, SensorMode, SensorModes, SampleProvider

public class MSC
extends I2CSensor

This class has been designed to manage the device MSC8, Mindsensors NXT Servo which manages up to 8 RC Servos. For example, do: msc.servo1.setAngle(angle) to set the angle of the servo at location 1. Many thanks to Luis Bunuel (bunuel66@hotmail.com) in Testing process

Author:

Juan Antonio Brenha Moral

Field Summary

Fields

Modifier and Type	Field	Description
static byte	MSC8_VBATT
static byte	NXTSERVO_ADDRESS
MServo	servo1	Servo at location 1
MServo	servo2	Servo at location 2
MServo	servo3	Servo at location 3
MServo	servo4	Servo at location 4
MServo	servo5	Servo at location 5
MServo	servo6	Servo at location 6
MServo	servo7	Servo at location 7
MServo	servo8	Servo at location 8

Fields inherited from class lejos.hardware.sensor.I2CSensor

address, DEFAULT_I2C_ADDRESS, port, REG_PRODUCT_ID, REG_VENDOR_ID, REG_VERSION, retryCount

Fields inherited from class lejos.hardware.sensor.BaseSensor

currentMode, modes

Fields inherited from class lejos.hardware.Device

closeList

Fields inherited from interface lejos.hardware.sensor.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, BROWN, GREEN, GREEN_INDEX, MAX_TYPE, MIN_TYPE, MODE_RAW, NXT_ADC_RES, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HIGHSPEED, TYPE_HIGHSPEED_9V, 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, WHITE, YELLOW

Constructor Summary

Constructors

Constructor	Description
MSC(I2CPort port)
MSC(Port port)	Constructor

Method Summary

Modifier and Type	Method	Description
int	getBattery()	Read the battery voltage data from NXTServo module (in millivolts)
MServo	getServo(int location)	Method to get an RC Servo in from the NXTServo

Methods inherited from class lejos.hardware.sensor.I2CSensor

fetchString, getAddress, getData, getData, getPort, getProductID, getRetryCount, getVendorID, getVersion, sendData, sendData, sendData, setAddress, setRetryCount

Methods inherited from class lejos.hardware.sensor.BaseSensor

fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, getName, sampleSize, setCurrentMode, setCurrentMode, setModes

Methods inherited from class lejos.hardware.Device

close, releaseOnClose

Methods inherited from class java.lang.Object

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

Field Detail

NXTSERVO_ADDRESS

public static final byte NXTSERVO_ADDRESS

See Also:

Constant Field Values

MSC8_VBATT

public static final byte MSC8_VBATT

See Also:

Constant Field Values

servo1

public MServo servo1

Servo at location 1

servo2

public MServo servo2

Servo at location 2

servo3

public MServo servo3

Servo at location 3

servo4

public MServo servo4

Servo at location 4

servo5

public MServo servo5

Servo at location 5

servo6

public MServo servo6

Servo at location 6

servo7

public MServo servo7

Servo at location 7

servo8

public MServo servo8

Servo at location 8

Constructor Detail

MSC

public MSC(Port port)

Constructor

Parameters:

port - the NXTServo is connected to

MSC

public MSC(I2CPort port)

Method Detail

getServo

public MServo getServo(int location)

Method to get an RC Servo in from the NXTServo

Parameters:

location - location of the servo (from 1 to 8)

Returns:

the MServo object

getBattery

public int getBattery()

Read the battery voltage data from NXTServo module (in millivolts)

Returns:

the battery voltage in millivolts