Package lejos.hardware.device

Class NXTMMX

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.device.NXTMMX

All Implemented Interfaces:

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

public class NXTMMX
extends I2CSensor

Supports the Mindsensors NXTMMX motor multiplexor. This device allows you to connect two additional motors to your robot using a sensor port. Multiple NXTMMXs can be chained together when addressed correctly.

Create an instance of this class and use the factory methods to provide a MMXRegulatedMotor or MMXMotor instance.

Author:

Kirk P Thompsonn

See Also:

MMXRegulatedMotor, MMXMotor

Field Summary

Fields

Modifier and Type	Field	Description
static int	DEFAULT_MMX_ADDRESS	The default I2C address (0x06) for the NXTMMX.
static int	MOTOR_M1	Represents Motor 1 as indicated on the controller
static int	MOTOR_M2	Represents Motor 2 as indicated on the controller

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
NXTMMX(I2CPort port)	Constructor for the NXTMMX
NXTMMX(I2CPort port, int address)	Constructor for the NXTMMX
NXTMMX(Port port)	Constructor for the NXTMMX
NXTMMX(Port port, int address)	Constructor for the NXTMMX

Method Summary

Modifier and Type	Method	Description
void	fltMotors()	Synchronized Float both motors
MMXMotor	getBasicMotor(int motorID)	Get a MMXMotor instance that is associated with the motorID.
MMXRegulatedMotor	getRegulatedMotor(int motorID)	Get a MMXRegulatedMotor instance that is associated with the motorID.
float	getVoltage()	Returns the voltage supplied to the NXTMMX
void	stopMotors()	Synchronized stop both motors

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

MOTOR_M1

public static final int MOTOR_M1

Represents Motor 1 as indicated on the controller

See Also:

Constant Field Values

MOTOR_M2

public static final int MOTOR_M2

Represents Motor 2 as indicated on the controller

See Also:

Constant Field Values

DEFAULT_MMX_ADDRESS

public static final int DEFAULT_MMX_ADDRESS

The default I2C address (0x06) for the NXTMMX.

See Also:

Constant Field Values

Constructor Detail

NXTMMX

public NXTMMX(I2CPort port)

Constructor for the NXTMMX

Parameters:

port - - the port its plugged in to

NXTMMX

public NXTMMX(Port port)

Constructor for the NXTMMX

Parameters:

port - - the port its plugged in to

NXTMMX

public NXTMMX(I2CPort port,
              int address)

Constructor for the NXTMMX

Parameters:

port - - the sensor port its plugged in to

address - The I2C address for the device

NXTMMX

public NXTMMX(Port port,
              int address)

Constructor for the NXTMMX

Parameters:

port - - the sensor port its plugged in to

address - The I2C address for the device

Method Detail

getRegulatedMotor

public MMXRegulatedMotor getRegulatedMotor(int motorID)

Get a MMXRegulatedMotor instance that is associated with the motorID.

Parameters:

motorID - The motor ID number. This is indicated on the NXTMMX Motor Controller and is represented using MOTOR_M1 or MOTOR_M2.

Returns:

The MMXRegulatedMotor instance

Throws:

java.lang.IllegalArgumentException - if invalid motorID

java.lang.UnsupportedOperationException - if motorID has already been used for a MMXMotor motor instance.

See Also:

MMXRegulatedMotor, getBasicMotor(int)

getBasicMotor

public MMXMotor getBasicMotor(int motorID)

Get a MMXMotor instance that is associated with the motorID.

Parameters:

motorID - The motor ID number. This is indicated on the NXTMMX Motor Controller and is represented using MOTOR_M1 or MOTOR_M2.

Returns:

The MMXMotor instance

Throws:

java.lang.IllegalArgumentException - if invalid motorID

java.lang.UnsupportedOperationException - if motorID has already been used for a MMXRegulatedMotor motor instance.

See Also:

MMXMotor, getRegulatedMotor(int)

getVoltage

public float getVoltage()

Returns the voltage supplied to the NXTMMX

Returns:

the voltage in volts

stopMotors

public void stopMotors()

Synchronized stop both motors

fltMotors

public void fltMotors()

Synchronized Float both motors