Package lejos.hardware.sensor

Class HiTechnicAngleSensor

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.sensor.HiTechnicAngleSensor

All Implemented Interfaces:

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

public class HiTechnicAngleSensor
extends I2CSensor

Hitechnic Angle sensor
The Angle sensor measures axle rotation position and rotation speed.

The code for this sensor has not been tested. Please report test results to the leJOS forum.

Supported modes
Mode name	Description	unit(s)	Getter
Absolute angle	Measures the rotation position of a rotating axle	Degrees (0-359)	getAngleMode()
Accumulated angle	Measures the accumulated number of degrees an axle has rotated	Degrees	getAccumulatedAngleMode()
Angular velocity	the speed of the axle rotation	rotations / second	getAngularVelocityMode()

Sensor configuration
The zero position of the sensor can be set and stored in the sensors memory using the calibrateAngle method. The accumulated angle can be set to zero using the resetAccumulatedAngle method. The accumulated angle is not stored in memory.

See Sensor Product page See The leJOS sensor framework See leJOS conventions for SampleProviders

Field Summary

Fields

Modifier and Type	Field	Description
protected static int	HTANGLE_MODE_CALIBRATE
protected static int	HTANGLE_MODE_RESET
protected static int	REG_ACCUMULATED_ANGLE
protected static int	REG_ANGLE
protected static int	REG_SPEED

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
HiTechnicAngleSensor(I2CPort port)
HiTechnicAngleSensor(Port port)

Method Summary

Modifier and Type	Method	Description
void	calibrateAngle()	Calibrate the zero position of angle.
SensorMode	getAccumulatedAngleMode()	HiTechnic angle sensor, Accumulated angle mode Measures the accumulated number of degrees an axle has rotated.
SensorMode	getAngleMode()	HiTechnic angle sensor, Angle mode Measures the rotation position of a rotating axle.
SensorMode	getAngularVelocityMode()	HiTechnic angle sensor, Angular velocity mode Measures the rotational speed of an axle.
protected void	init()
void	resetAccumulatedAngle()	Reset the rotation count of accumulated angle to zero.

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

REG_ANGLE

protected static final int REG_ANGLE

See Also:

Constant Field Values

REG_ACCUMULATED_ANGLE

protected static final int REG_ACCUMULATED_ANGLE

See Also:

Constant Field Values

REG_SPEED

protected static final int REG_SPEED

See Also:

Constant Field Values

HTANGLE_MODE_CALIBRATE

protected static final int HTANGLE_MODE_CALIBRATE

See Also:

Constant Field Values

HTANGLE_MODE_RESET

protected static final int HTANGLE_MODE_RESET

See Also:

Constant Field Values

Constructor Detail

HiTechnicAngleSensor

public HiTechnicAngleSensor(I2CPort port)

HiTechnicAngleSensor

public HiTechnicAngleSensor(Port port)

Method Detail

init

protected void init()

resetAccumulatedAngle

public void resetAccumulatedAngle()

Reset the rotation count of accumulated angle to zero. Not saved in EEPORM.

calibrateAngle

public void calibrateAngle()

Calibrate the zero position of angle. Zero position is saved in EEPROM on sensor. Thread sleeps for 50ms while that is done.

getAngleMode

public SensorMode getAngleMode()

HiTechnic angle sensor, Angle mode
Measures the rotation position of a rotating axle.

Size and content of the sample
The sample contains one elements containing the angle of the sensor in the range of 0 to 359 degrees.

getAccumulatedAngleMode

public SensorMode getAccumulatedAngleMode()

HiTechnic angle sensor, Accumulated angle mode
Measures the accumulated number of degrees an axle has rotated.

Size and content of the sample
The sample contains one elements containing the accumulated rotation (in degrees) of the axle.

getAngularVelocityMode

public SensorMode getAngularVelocityMode()

HiTechnic angle sensor, Angular velocity mode
Measures the rotational speed of an axle.

Size and content of the sample
The sample contains one elements containing the angular velocity (in degrees) of the axle.