lejos.nxt.addon
Class RCXRotationSensor

java.lang.Object
  java.lang.Thread
      lejos.nxt.addon.RCXRotationSensor

All Implemented Interfaces:

Runnable, SensorConstants

public class RCXRotationSensor
extends Thread
implements SensorConstants

Provide access to the Lego RCX Rotation Sensor. The sensor records the direction and degree of rotation. A full rotation will result in a count of +/-16. Thus each count is 22.5 degrees.

Author:

andy

WARNING: THIS CLASS IS SHARED BETWEEN THE classes AND pccomms PROJECTS. DO NOT EDIT THE VERSION IN pccomms AS IT WILL BE OVERWRITTEN WHEN THE PROJECT IS BUILT.

Nested Class Summary

protected class

RCXRotationSensor.Reader

Field Summary

protected int	count
protected static int[][]	inc The following table when indexed by [previous phase][current phase] provides the current direction of rotation.
static int	ONE_ROTATION
protected LegacySensorPort	port
protected RCXRotationSensor.Reader	reader
protected static int	UPDATE_TIME

Fields inherited from class java.lang.Thread

MAX_PRIORITY, MIN_PRIORITY, NORM_PRIORITY

Fields inherited from interface lejos.nxt.SensorConstants

MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, TYPE_ANGLE, TYPE_CUSTOM, 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

Constructor Summary

RCXRotationSensor(LegacySensorPort port)
Create an RCX rotation sensor object attached to the specified port.

Method Summary

int	getCount() Returns the current count.
protected int	getPhase() Returns the current phase of the sensor.
void	resetCount() Resets the current count to zero.

Methods inherited from class java.lang.Thread

currentThread, getPriority, interrupt, interrupted, isAlive, isDaemon, isInterrupted, join, join, run, setDaemon, setPriority, sleep, start, yield

Methods inherited from class java.lang.Object

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

Field Detail

ONE_ROTATION

public static final int ONE_ROTATION

See Also:

Constant Field Values

UPDATE_TIME

protected static final int UPDATE_TIME

See Also:

Constant Field Values

port

protected LegacySensorPort port

count

protected int count

reader

protected final RCXRotationSensor.Reader reader

inc

protected static final int[][] inc

The following table when indexed by [previous phase][current phase] provides the current direction of rotation. Invalid phase combinations result in zero.

Constructor Detail

RCXRotationSensor

public RCXRotationSensor(LegacySensorPort port)

Create an RCX rotation sensor object attached to the specified port.

Parameters:

port - port, e.g. Port.S1

Method Detail

getPhase

protected int getPhase()

Returns the current phase of the sensor. The sensor returns four distinct values read by the ADC port. Each value represents a phase in the rotation. The sequence of the phases is: 0 1 3 2 and 0 2 3 1 The transition from one phase to another can be used to identify the direction of rotation.

Returns:

the current rotation phase.

getCount

public int getCount()

Returns the current count.

Returns:

the current count

resetCount

public void resetCount()

Resets the current count to zero.