Package lejos.remote.nxt

Class RemoteNXTI2CPort

java.lang.Object

lejos.remote.nxt.RemoteNXTIOPort

lejos.remote.nxt.RemoteNXTI2CPort

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, BasicSensorPort, I2CPort, IOPort, EV3SensorConstants, SensorConstants

public class RemoteNXTI2CPort
extends RemoteNXTIOPort
implements I2CPort

Field Summary

Fields inherited from class lejos.remote.nxt.RemoteNXTIOPort

currentMode, dc, nxtCommand, openPorts, port, ref, typ

Fields inherited from interface lejos.hardware.sensor.EV3SensorConstants

ADC_REF, ADC_RES, CMD_AUTOMATIC, CMD_COL_AMB, CMD_COL_BLU, CMD_COL_COL, CMD_COL_GRN, CMD_COL_RED, CMD_CONNECTED, CMD_DISCONNECTED, CMD_FLOAT, CMD_NONE, CMD_PIN1, CMD_PIN5, CMD_SET, CONN_DAISYCHAIN, CONN_ERROR, CONN_INPUT_DUMB, CONN_INPUT_UART, CONN_NONE, CONN_NXT_COLOR, CONN_NXT_DUMB, CONN_NXT_IIC, CONN_OUTPUT_DUMB, CONN_OUTPUT_INTELLIGENT, CONN_OUTPUT_TACHO, CONN_UNKNOWN, IIC_DATA_LENGTH, MAX_DEVICE_DATALENGTH, MOTORS, PORTS, STATUS_BUSY, STATUS_FAIL, STATUS_OK, STATUS_STOP, TYPE_ERROR, TYPE_IIC_UNKNOWN, TYPE_MINITACHO, TYPE_NEWTACHO, TYPE_NONE, TYPE_NXT_COLOR, TYPE_NXT_IIC, TYPE_NXT_LIGHT, TYPE_NXT_SOUND, TYPE_NXT_TEST, TYPE_NXT_TOUCH, TYPE_TACHO, TYPE_TERMINAL, TYPE_THIRD_PARTY_END, TYPE_THIRD_PARTY_START, TYPE_UNKNOWN, UART_MAX_MODES

Fields inherited from interface lejos.hardware.port.I2CPort

MAX_IO

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
RemoteNXTI2CPort(NXTCommand nxtCommand)

Method Summary

Modifier and Type	Method	Description
protected boolean	getChanged()
protected byte	getStatus()
void	i2cTransaction(int deviceAddress, byte[] writeBuf, int writeOffset, int writeLen, byte[] readBuf, int readOffset, int readLen)	High level i2c interface.
protected boolean	initSensor()
boolean	open(int t, int p, RemoteNXTPort r)	allow access to the specified port
protected void	reset()
boolean	setMode(int mode)	Set the sensor mode
protected void	setOperatingMode(int typ, int mode)
boolean	setType(int type)	Set the sensor type
boolean	setTypeAndMode(int type, int mode)	Set the sensor type and mode

Methods inherited from class lejos.remote.nxt.RemoteNXTIOPort

close, getMode, getName, getType, setPinMode

Methods inherited from class java.lang.Object

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

Methods inherited from interface lejos.hardware.port.BasicSensorPort

getMode, getType

Methods inherited from interface lejos.hardware.port.IOPort

close, getName, setPinMode

Constructor Detail

RemoteNXTI2CPort

public RemoteNXTI2CPort(NXTCommand nxtCommand)

Method Detail

getChanged

protected boolean getChanged()

getStatus

protected byte getStatus()

reset

protected void reset()

setOperatingMode

protected void setOperatingMode(int typ,
                                int mode)

initSensor

protected boolean initSensor()

open

public boolean open(int t,
                    int p,
                    RemoteNXTPort r)

allow access to the specified port

Overrides:

open in class RemoteNXTIOPort

Parameters:

p - port number to open

t - The type of port motor/sensor

r - the Port ref for this port

Returns:

true if success

i2cTransaction

public void i2cTransaction(int deviceAddress,
                           byte[] writeBuf,
                           int writeOffset,
                           int writeLen,
                           byte[] readBuf,
                           int readOffset,
                           int readLen)

High level i2c interface. Perform a complete i2c transaction and return the results. Writes the specified data to the device and then reads the requested bytes from it.

Specified by:

i2cTransaction in interface I2CPort

Parameters:

deviceAddress - The I2C device address.

writeBuf - The buffer containing data to be written to the device.

writeOffset - The offset of the data within the write buffer

writeLen - The number of bytes to write.

readBuf - The buffer to use for the transaction results

readOffset - Location to write the results to

readLen - The length of the read

setTypeAndMode

public boolean setTypeAndMode(int type,
                              int mode)

Set the sensor type and mode

Specified by:

setTypeAndMode in interface BasicSensorPort

Overrides:

setTypeAndMode in class RemoteNXTIOPort

Parameters:

type - the sensor type

mode - the sensor mode

Returns:

true if success

setType

public boolean setType(int type)

Set the sensor type

Specified by:

setType in interface BasicSensorPort

Overrides:

setType in class RemoteNXTIOPort

Parameters:

type - the sensor type

Returns:

true if success

setMode

public boolean setMode(int mode)

Set the sensor mode

Specified by:

setMode in interface BasicSensorPort

Overrides:

setMode in class RemoteNXTIOPort

Parameters:

mode - the sensor mode

Returns:

true if success