Package lejos.remote.nxt

Class RemoteNXTIOPort

java.lang.Object

lejos.remote.nxt.RemoteNXTIOPort

All Implemented Interfaces:

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

Direct Known Subclasses:

RemoteNXTAnalogPort, RemoteNXTI2CPort, RemoteNXTMotorPort

public abstract class RemoteNXTIOPort
extends java.lang.Object
implements IOPort, BasicSensorPort, EV3SensorConstants

This class provides the base operations for remote NXT sensor ports.

Author:

Lawrie Griffiths

Field Summary

Fields

Modifier and Type	Field	Description
protected int	currentMode
protected static byte[]	dc
protected NXTCommand	nxtCommand
protected static RemoteNXTIOPort[][]	openPorts
protected int	port
protected RemoteNXTPort	ref
protected int	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.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
RemoteNXTIOPort(NXTCommand nxtCommand)

Method Summary

Modifier and Type	Method	Description
void	close()	Close the port, the port can not be used after this call.
int	getMode()	Get the current operating mode of the sensor
java.lang.String	getName()	Return the string representing this port
int	getType()	Get the current type setting.
boolean	open(int typ, int port, RemoteNXTPort ref)	Open the sensor port.
boolean	setMode(int mode)	Set the current operating mode for the sensor attached to the port.
boolean	setPinMode(int mode)	Set the port pins up ready for use.
boolean	setType(int type)	Set the operating type for the attached sensor.
boolean	setTypeAndMode(int type, int mode)

Methods inherited from class java.lang.Object

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

Field Detail

port

protected int port

typ

protected int typ

ref

protected RemoteNXTPort ref

dc

protected static byte[] dc

currentMode

protected int currentMode

openPorts

protected static RemoteNXTIOPort[][] openPorts

nxtCommand

protected NXTCommand nxtCommand

Constructor Detail

RemoteNXTIOPort

public RemoteNXTIOPort(NXTCommand nxtCommand)

Method Detail

getName

public java.lang.String getName()

Return the string representing this port

Specified by:

getName in interface IOPort

Returns:

the port name

getMode

public int getMode()

Get the current operating mode of the sensor

Specified by:

getMode in interface BasicSensorPort

Returns:

the current mode

getType

public int getType()

Get the current type setting. Note that types are typically used to control the operation of Legacy and i2c sensors. They are normally not used for EV3 sensors.

Specified by:

getType in interface BasicSensorPort

Returns:

the current sensor type

setMode

public boolean setMode(int mode)

Set the current operating mode for the sensor attached to the port.

Specified by:

setMode in interface BasicSensorPort

Parameters:

mode - the new mode

Returns:

true if the mode has been accepted

setType

public boolean setType(int type)

Set the operating type for the attached sensor. Normally type setting is only used with legacy sensors and for i2c devices (to set the speed and operating voltage). It is not normally used with EV3 sensors.

Specified by:

setType in interface BasicSensorPort

Returns:

true if type accepted

setTypeAndMode

public boolean setTypeAndMode(int type,
                              int mode)

Specified by:

setTypeAndMode in interface BasicSensorPort

open

public boolean open(int typ,
                    int port,
                    RemoteNXTPort ref)

Open the sensor port. Ensure that the port is only opened once.

Parameters:

typ - The type of port motor/sensor

port - the port number

ref - the Port ref for this port

Returns:

true if success

close

public void close()

Close the port, the port can not be used after this call.

Specified by:

close in interface java.lang.AutoCloseable

Specified by:

close in interface java.io.Closeable

Specified by:

close in interface IOPort

setPinMode

public boolean setPinMode(int mode)

Set the port pins up ready for use.

Specified by:

setPinMode in interface IOPort

Parameters:

mode - The EV3 pin mode

Returns:

true if the operation succeeds false if it fails