Package lejos.hardware.device

Class NXTCam

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.device.NXTCam

All Implemented Interfaces:

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

public class NXTCam
extends I2CSensor

Mindsensors NXTCam. www.mindsensors.com Author Lawrie Griffiths

Field Summary

Fields

Modifier and Type	Field	Description
static char	COLOR	Used by sortBy() to choose sorting criteria based on color id (ordered 0 to 7).
static char	LINE_TRACKING	Used by setTrackingMode() to choose line tracking.
static char	NO_SORTING	Used by sortBy() to choose no sorting of detected objects.
static char	OBJECT_TRACKING	Used by setTrackingMode() to choose object tracking.
static char	SIZE	Used by sortBy() to choose sorting criteria based on size (ordered largest to smallest).

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
NXTCam(I2CPort port)
NXTCam(I2CPort port, int address)
NXTCam(Port port)
NXTCam(Port port, int address)

Method Summary

Modifier and Type	Method	Description
void	enableTracking(boolean enable)
java.lang.String	getFirmwareVersion()	Returns the NXTCam firmware version.
int	getNumberOfObjects()	Get the number of objects being tracked
int	getObjectColor(int id)	Get the color number for a tracked object
Rectangle2D	getRectangle(int id)	Get the rectangle containing a tracked object
void	sendCommand(char cmd)	Send a single byte command represented by a letter
void	setTrackingMode(char mode)	Choose either object or line tracking mode.
void	sortBy(char sortType)	Camera sorts objects it detects according to criteria, either color, size, or no sorting at all.

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

SIZE

public static final char SIZE

Used by sortBy() to choose sorting criteria based on size (ordered largest to smallest).

See Also:

Constant Field Values

COLOR

public static final char COLOR

Used by sortBy() to choose sorting criteria based on color id (ordered 0 to 7).

See Also:

Constant Field Values

NO_SORTING

public static final char NO_SORTING

Used by sortBy() to choose no sorting of detected objects.

See Also:

Constant Field Values

OBJECT_TRACKING

public static final char OBJECT_TRACKING

Used by setTrackingMode() to choose object tracking.

See Also:

Constant Field Values

LINE_TRACKING

public static final char LINE_TRACKING

Used by setTrackingMode() to choose line tracking.

See Also:

Constant Field Values

Constructor Detail

NXTCam

public NXTCam(I2CPort port,
              int address)

NXTCam

public NXTCam(I2CPort port)

NXTCam

public NXTCam(Port port,
              int address)

NXTCam

public NXTCam(Port port)

Method Detail

getNumberOfObjects

public int getNumberOfObjects()

Get the number of objects being tracked

Returns:

number of objects (0 - 8)

sortBy

public void sortBy(char sortType)

Camera sorts objects it detects according to criteria, either color, size, or no sorting at all.

Parameters:

sortType - Use the class constants SIZE, COLOR, or NO_SORTING.

enableTracking

public void enableTracking(boolean enable)

Parameters:

enable - true to enable, false to disable

setTrackingMode

public void setTrackingMode(char mode)

Choose either object or line tracking mode.

Parameters:

mode - Use either OBJECT_TRACKING or LINE_TRACKING

getObjectColor

public int getObjectColor(int id)

Get the color number for a tracked object

Parameters:

id - the object number (starting at zero)

Returns:

the color of the object (starting at zero)

getFirmwareVersion

public java.lang.String getFirmwareVersion()

Returns the NXTCam firmware version.

Returns:

version number as a string

getRectangle

public Rectangle2D getRectangle(int id)

Get the rectangle containing a tracked object

Parameters:

id - the object number (starting at zero)

Returns:

the rectangle

sendCommand

public void sendCommand(char cmd)

Send a single byte command represented by a letter

Parameters:

cmd - the letter that identifies the command