java.lang.Object
- lejos.hardware.Device
- - lejos.hardware.sensor.BaseSensor
  - - lejos.hardware.sensor.I2CSensor
    - - lejos.hardware.device.RCXLink

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, IRTransmitter, SensorConstants, SensorMode, SensorModes, Opcode, SampleProvider
```
public class RCXLink
extends I2CSensor
implements Opcode, IRTransmitter
```
Supports Mindsensors NRLink RCX IR adapter.

Author:

Lawrie Griffiths

Field Summary

Fields
Modifier and Type	Field	Description
`RCXMotor`	`A`
`RCXMotor`	`B`
`static byte`	`BEEP`	NOTE: The BEEP macro is unreliable.
`RCXMotor`	`C`
`static int`	`DELAY`
`static int`	`EEPROM_BUFFER`
`static byte`	`LONG_RANGE_IR`
`static byte`	`MOTOR_A_FORWARD`
`static byte`	`MOTOR_A_REVERSED`
`static byte`	`MOTOR_B_FORWARD`
`static byte`	`MOTOR_B_REVERSED`
`static byte`	`MOTOR_C_FORWARD`
`static byte`	`MOTOR_C_REVERSED`
`static byte`	`POWER_OFF_RCX`
`static byte`	`RUN_PROGRAM_1`
`static byte`	`RUN_PROGRAM_2`
`static byte`	`RUN_PROGRAM_3`
`static byte`	`RUN_PROGRAM_4`
`static byte`	`RUN_PROGRAM_5`
`static byte`	`SHORT_RANGE_IR`
`static byte`	`STOP_ALL_PROGRAMS`

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.remote.rcx.Opcode
OPCODE_ABSOLUTE_VALUE, OPCODE_ABSOLUTE_VALUE_REPLY, OPCODE_ADD_TO_VARIABLE, OPCODE_ADD_TO_VARIABLE_REPLY, OPCODE_ALIVE, OPCODE_ALIVE_REPLY, OPCODE_AND_VARIABLE, OPCODE_AND_VARIABLE_REPLY, OPCODE_BRANCH_ALWAYS_FAR, OPCODE_BRANCH_ALWAYS_NEAR, OPCODE_CALL_SUBROUTINE, OPCODE_CLEAR_MESSAGE, OPCODE_CLEAR_SENSOR_VALUE, OPCODE_CLEAR_SENSOR_VALUE_REPLY, OPCODE_CLEAR_TIMER, OPCODE_CLEAR_TIMER_REPLY, OPCODE_DATALOG_NEXT, OPCODE_DATALOG_NEXT_REPLY, OPCODE_DECREMENT_LOOP_COUNTER_FAR, OPCODE_DECREMENT_LOOP_COUNTER_NEAR, OPCODE_DELETE_ALL_SUBROUTINES, OPCODE_DELETE_ALL_SUBROUTINES_REPLY, OPCODE_DELETE_ALL_TASKS, OPCODE_DELETE_ALL_TASKS_REPLY, OPCODE_DELETE_FIRMWARE, OPCODE_DELETE_FIRMWARE_REPLY, OPCODE_DELETE_SUBROUTINE, OPCODE_DELETE_SUBROUTINE_REPLY, OPCODE_DELETE_TASK, OPCODE_DELETE_TASK_REPLY, OPCODE_DIVIDE_VARIABLE, OPCODE_DIVIDE_VARIABLE_REPLY, OPCODE_GET_BATTERY_POWER, OPCODE_GET_BATTERY_POWER_REPLY, OPCODE_GET_MEMORY_MAP, OPCODE_GET_MEMORY_MAP_REPLY, OPCODE_GET_VALUE, OPCODE_GET_VALUE_REPLY, OPCODE_GET_VERSIONS, OPCODE_GET_VERSIONS_REPLY, OPCODE_MASK, OPCODE_MULTIPLY_VARIABLE, OPCODE_MULTIPLY_VARIABLE_REPLY, OPCODE_OR_VARIABLE, OPCODE_OR_VARIABLE_REPLY, OPCODE_PLAY_SOUND_REPLY, OPCODE_PLAY_TONE, OPCODE_PLAY_TONE_REPLY, OPCODE_POWER_OFF, OPCODE_POWER_OFF_REPLY, OPCODE_REMOTE_COMMAND, OPCODE_SEND_MESSAGE, OPCODE_SET_DATALOG_SIZE, OPCODE_SET_DATALOG_SIZE_REPLY, OPCODE_SET_DISPLAY, OPCODE_SET_DISPLAY_REPLY, OPCODE_SET_LOOP_COUNTER, OPCODE_SET_MESSAGE, OPCODE_SET_MOTOR_DIRECTION, OPCODE_SET_MOTOR_DIRECTION_REPLY, OPCODE_SET_MOTOR_ON_OFF, OPCODE_SET_MOTOR_ON_OFF_REPLY, OPCODE_SET_MOTOR_POWER, OPCODE_SET_MOTOR_POWER_REPLY, OPCODE_SET_POWER_DOWN_DELAY, OPCODE_SET_POWER_DOWN_DELAY_REPLY, OPCODE_SET_PROGRAM_NUMBER, OPCODE_SET_PROGRAM_NUMBER_REPLY, OPCODE_SET_SENSOR_MODE, OPCODE_SET_SENSOR_MODE_REPLY, OPCODE_SET_SENSOR_TYPE, OPCODE_SET_SENSOR_TYPE_REPLY, OPCODE_SET_TIME, OPCODE_SET_TIME_REPLY, OPCODE_SET_TRANSMITTER_RANGE, OPCODE_SET_TRANSMITTER_RANGE_REPLY, OPCODE_SET_VARIABLE, OPCODE_SET_VARIABLE_REPLY, OPCODE_SIGN_VARIABLE, OPCODE_SIGN_VARIABLE_REPLY, OPCODE_START_FIRMWARE_DOWNLOAD, OPCODE_START_FIRMWARE_DOWNLOAD_REPLY, OPCODE_START_SUBROUTINE_DOWNLOAD, OPCODE_START_SUBROUTINE_DOWNLOAD_REPLY, OPCODE_START_TASK, OPCODE_START_TASK_DOWNLOAD, OPCODE_START_TASK_DOWNLOAD_REPLY, OPCODE_START_TASK_REPLY, OPCODE_STOP_ALL_TASKS, OPCODE_STOP_ALL_TASKS_REPLY, OPCODE_STOP_TASK, OPCODE_STOP_TASK_REPLY, OPCODE_SUBTRACT_FROM_VARIABLE, OPCODE_SUBTRACT_FROM_VARIABLE_REPLY, OPCODE_TEST_AND_BRANCH_FAR, OPCODE_TEST_AND_BRANCH_NEAR, OPCODE_TRANSFER_DATA, OPCODE_TRANSFER_DATA_REPLY, OPCODE_UNLOCK_FIRMWARE, OPCODE_UNLOCK_FIRMWARE_REPLY, OPCODE_UPLOAD_DATALOG, OPCODE_UPLOAD_DATALOG_REPLY, OPCODE_WAIT

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

RCXLink(I2CPort port)

RCXLink(Port port)

Method Summary

All Methods Instance Methods Concrete Methods
Modifier and Type	Method	Description
`void`	`backward(int id)`
`void`	`backwardStep(int id)`
`void`	`beep()`
`int`	`bytesAvailable()`
`void`	`defineAndRun(byte[] macro, int len)`
`void`	`defineMacro(int addr, byte[] macro)`
`void`	`fltMotor(int id)`
`void`	`flush()`
`void`	`forward(int id)`
`void`	`forwardStep(int id)`
`int`	`getStatus()`
`void`	`ping()`
`void`	`powerOff()`
`int`	`readBytes(byte[] data)`
`void`	`runMacro(int addr)`
`void`	`runProgram(int programNumber)`
`void`	`sendBytes(byte[] data, int len)`	Send raw bytes to the RCX
`void`	`sendF7(int msg)`
`void`	`sendPacket(byte[] packet)`	Send a packet of data to the RCX
`void`	`sendRemoteCommand(int msg)`	Send a remote control command to the RCX
`void`	`setAPDAOff()`
`void`	`setAPDAOn()`
`void`	`setDefaultSpeed()`
`void`	`setHighSpeed()`
`void`	`setMotorPower(int id, int power)`
`void`	`setRangeLong()`
`void`	`setRangeShort()`
`void`	`setRawMode()`
`void`	`setRCXRangeLong()`
`void`	`setRCXRangeShort()`
`void`	`startMotor(int id)`
`void`	`stopAllPrograms()`
`void`	`stopMotor(int id)`

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
- A
```
public RCXMotor A
```
- B
```
public RCXMotor B
```
- C
```
public RCXMotor C
```
- SHORT_RANGE_IR
```
public static final byte SHORT_RANGE_IR
```
  See Also:
  
  Constant Field Values
- LONG_RANGE_IR
```
public static final byte LONG_RANGE_IR
```
  See Also:
  
  Constant Field Values
- POWER_OFF_RCX
```
public static final byte POWER_OFF_RCX
```
  See Also:
  
  Constant Field Values
- RUN_PROGRAM_1
```
public static final byte RUN_PROGRAM_1
```
  See Also:
  
  Constant Field Values
- RUN_PROGRAM_2
```
public static final byte RUN_PROGRAM_2
```
  See Also:
  
  Constant Field Values
- RUN_PROGRAM_3
```
public static final byte RUN_PROGRAM_3
```
  See Also:
  
  Constant Field Values
- RUN_PROGRAM_4
```
public static final byte RUN_PROGRAM_4
```
  See Also:
  
  Constant Field Values
- RUN_PROGRAM_5
```
public static final byte RUN_PROGRAM_5
```
  See Also:
  
  Constant Field Values
- STOP_ALL_PROGRAMS
```
public static final byte STOP_ALL_PROGRAMS
```
  See Also:
  
  Constant Field Values
- MOTOR_A_FORWARD
```
public static final byte MOTOR_A_FORWARD
```
  See Also:
  
  Constant Field Values
- MOTOR_A_REVERSED
```
public static final byte MOTOR_A_REVERSED
```
  See Also:
  
  Constant Field Values
- MOTOR_B_FORWARD
```
public static final byte MOTOR_B_FORWARD
```
  See Also:
  
  Constant Field Values
- MOTOR_B_REVERSED
```
public static final byte MOTOR_B_REVERSED
```
  See Also:
  
  Constant Field Values
- MOTOR_C_FORWARD
```
public static final byte MOTOR_C_FORWARD
```
  See Also:
  
  Constant Field Values
- MOTOR_C_REVERSED
```
public static final byte MOTOR_C_REVERSED
```
  See Also:
  
  Constant Field Values
- BEEP
```
public static final byte BEEP
```
  NOTE: The BEEP macro is unreliable. It works once, and then needs another command executed before it works again.
  
  See Also:
  
  Constant Field Values
- EEPROM_BUFFER
```
public static final int EEPROM_BUFFER
```
  See Also:
  
  Constant Field Values
- DELAY
```
public static final int DELAY
```
  See Also:
  
  Constant Field Values

Constructor Detail

RCXLink
```
public RCXLink(I2CPort port)
```

RCXLink
```
public RCXLink(Port port)
```

Method Detail

runMacro
```
public void runMacro(int addr)
```

beep
```
public void beep()
```
Specified by:

beep in interface IRTransmitter

runProgram
```
public void runProgram(int programNumber)
```
Specified by:

runProgram in interface IRTransmitter

forwardStep
```
public void forwardStep(int id)
```
Specified by:

forwardStep in interface IRTransmitter

backwardStep
```
public void backwardStep(int id)
```
Specified by:

backwardStep in interface IRTransmitter

setRCXRangeShort
```
public void setRCXRangeShort()
```

setRCXRangeLong
```
public void setRCXRangeLong()
```

powerOff
```
public void powerOff()
```

stopAllPrograms
```
public void stopAllPrograms()
```
Specified by:

stopAllPrograms in interface IRTransmitter

flush
```
public void flush()
```

setDefaultSpeed
```
public void setDefaultSpeed()
```

setHighSpeed
```
public void setHighSpeed()
```

setRangeLong
```
public void setRangeLong()
```

setRangeShort
```
public void setRangeShort()
```

setAPDAOn
```
public void setAPDAOn()
```

setAPDAOff
```
public void setAPDAOff()
```

defineMacro

public void defineMacro(int addr,
                        byte[] macro)

getStatus
```
public int getStatus()
```

bytesAvailable
```
public int bytesAvailable()
```

ping
```
public void ping()
```

sendF7
```
public void sendF7(int msg)
```

sendPacket
```
public void sendPacket(byte[] packet)
```
Description copied from interface: IRTransmitter

Send a packet of data to the RCX

Specified by:

sendPacket in interface IRTransmitter

sendRemoteCommand
```
public void sendRemoteCommand(int msg)
```
Description copied from interface: IRTransmitter

Send a remote control command to the RCX

Specified by:

sendRemoteCommand in interface IRTransmitter

Parameters:

msg - the code for the remote command

setMotorPower

public void setMotorPower(int id,
                          int power)

stopMotor
```
public void stopMotor(int id)
```

startMotor
```
public void startMotor(int id)
```

fltMotor
```
public void fltMotor(int id)
```

forward
```
public void forward(int id)
```

backward
```
public void backward(int id)
```

setRawMode
```
public void setRawMode()
```

sendBytes
```
public void sendBytes(byte[] data,
                      int len)
```
Description copied from interface: IRTransmitter

Send raw bytes to the RCX

Specified by:

sendBytes in interface IRTransmitter

Parameters:

data - the raw data

len - the number of bytes

readBytes
```
public int readBytes(byte[] data)
```

defineAndRun

public void defineAndRun(byte[] macro,
                         int len)

Constructors
Constructor	Description
`RCXLink(I2CPort port)`
`RCXLink(Port port)`

Class RCXLink

Field Summary

Fields inherited from class lejos.hardware.sensor.I2CSensor

Fields inherited from class lejos.hardware.sensor.BaseSensor

Fields inherited from class lejos.hardware.Device

Fields inherited from interface lejos.remote.rcx.Opcode

Fields inherited from interface lejos.hardware.sensor.SensorConstants

Constructor Summary

Method Summary

Methods inherited from class lejos.hardware.sensor.I2CSensor

Methods inherited from class lejos.hardware.sensor.BaseSensor

Methods inherited from class lejos.hardware.Device

Methods inherited from class java.lang.Object

Field Detail

A

B

C

SHORT_RANGE_IR

LONG_RANGE_IR

POWER_OFF_RCX

RUN_PROGRAM_1

RUN_PROGRAM_2

RUN_PROGRAM_3

RUN_PROGRAM_4

RUN_PROGRAM_5

STOP_ALL_PROGRAMS

MOTOR_A_FORWARD

MOTOR_A_REVERSED

MOTOR_B_FORWARD

MOTOR_B_REVERSED

MOTOR_C_FORWARD

MOTOR_C_REVERSED

BEEP

EEPROM_BUFFER

DELAY

Constructor Detail

RCXLink

RCXLink

Method Detail

runMacro

beep

runProgram

forwardStep

backwardStep

setRCXRangeShort

setRCXRangeLong

powerOff

stopAllPrograms

flush

setDefaultSpeed

setHighSpeed

setRangeLong

setRangeShort

setAPDAOn

setAPDAOff

defineMacro

getStatus

bytesAvailable

ping

sendF7

sendPacket

sendRemoteCommand

setMotorPower

stopMotor

startMotor

fltMotor

forward

backward

setRawMode

sendBytes

readBytes

defineAndRun