lejos.nxt.comm
Class NXTCommand

java.lang.Object
  lejos.nxt.comm.NXTCommand

All Implemented Interfaces:

NXTProtocol

public class NXTCommand
extends Object
implements NXTProtocol

Remote access to a NXT via Bluetooth using LCP.

Field Summary

Fields inherited from interface lejos.nxt.comm.NXTProtocol

ANGLE, ANGLESTEPSMODE, BOOLEANMODE, BOOT, BRAKE, CELSIUSMODE, CLOSE, CUSTOM, DELETE, DELETE_USER_FLASH, DIRECT_COMMAND_NOREPLY, DIRECT_COMMAND_REPLY, FAHRENHEITMODE, FIND_FIRST, FIND_NEXT, GET_BATTERY_LEVEL, GET_CURRENT_PROGRAM_NAME, GET_DEVICE_INFO, GET_FIRMWARE_VERSION, GET_INPUT_VALUES, GET_OUTPUT_STATE, HIGH_SPEED_BUFFER, KEEP_ALIVE, LIGHT_ACTIVE, LIGHT_INACTIVE, LOWSPEED, LOWSPEED_9V, LS_GET_STATUS, LS_READ, LS_WRITE, MESSAGE_READ, MESSAGE_WRITE, MODEMASK, MOTOR_RUN_STATE_IDLE, MOTOR_RUN_STATE_RAMPDOWN, MOTOR_RUN_STATE_RAMPUP, MOTOR_RUN_STATE_RUNNING, MOTORON, NO_OF_SENSOR_TYPES, NO_SENSOR, OPEN_APPEND_DATA, OPEN_READ, OPEN_READ_LINEAR, OPEN_WRITE, OPEN_WRITE_DATA, OPEN_WRITE_LINEAR, PCTFULLSCALEMODE, PERIODCOUNTERMODE, PLAY_SOUND_FILE, PLAY_TONE, POLL, POLL_BUFFER, POLL_LENGTH, RAWMODE, READ, REFLECTION, REGULATED, REGULATION_MODE_IDLE, REGULATION_MODE_MOTOR_SPEED, REGULATION_MODE_MOTOR_SYNC, REPLY_COMMAND, RESET_MOTOR_POSITION, RESET_SCALED_INPUT_VALUE, SET_BRICK_NAME, SET_INPUT_MODE, SET_OUTPUT_STATE, SLOPEMASK, SOUND_DB, SOUND_DBA, START_PROGRAM, STOP_PROGRAM, STOP_SOUND_PLAYBACK, SWITCH, SYSTEM_COMMAND_NOREPLY, SYSTEM_COMMAND_REPLY, TEMPERATURE, TRANSITIONCNTMODE, WRITE

Constructor Summary

NXTCommand()

Method Summary

void	close() Call the close() command when your program ends, otherwise you will have to turn the NXT brick off/on before you run another program using iCommand.
byte	deleteUserFlash() Deletes user flash memory (not including system modules).
int	getBatteryLevel()
DeviceInfo	getDeviceInfo()
FirmwareInfo	getFirmwareVersion()
InputValues	getInputValues(int port)
int	getTachoCount(int port) Retrieves tacho count.
void	open(String name)
byte	playTone(int frequency, int duration) Plays a tone on NXT speaker.
byte	resetMotorPosition(int port, boolean relative) Resets the tachometer
byte	setInputMode(int port, int sensorType, int sensorMode) Tells the NXT what type of sensor you are using and the mode to operate in.
byte	setOutputState(int port, byte power, int mode, int regulationMode, int turnRatio, int runState, int tachoLimit)
void	setVerify(boolean verify)

Methods inherited from class java.lang.Object

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

Constructor Detail

NXTCommand

public NXTCommand()

Method Detail

open

public void open(String name)
          throws IOException

Throws:

IOException

setOutputState

public byte setOutputState(int port,
                           byte power,
                           int mode,
                           int regulationMode,
                           int turnRatio,
                           int runState,
                           int tachoLimit)
                    throws IOException

Parameters:

port - - Output port (0 - 2 or 0xFF for all three)

power - - Setpoint for power. (-100 to 100)

mode - - Setting the modes MOTORON, BRAKE, and/or REGULATED. This parameter is a bitfield, so to put it in brake mode and regulated, use BRAKEMODE + REGULATED

regulationMode - - see NXTProtocol for enumerations

turnRatio - - Need two motors? (-100 to 100)

runState - - see NXTProtocol for enumerations

tachoLimit - - Number of degrees(?) to rotate before stopping.

Throws:

IOException

getTachoCount

public int getTachoCount(int port)
                  throws IOException

Retrieves tacho count.

Parameters:

port - - 0 to 3

Returns:

tacho count

Throws:

IOException

resetMotorPosition

public byte resetMotorPosition(int port,
                               boolean relative)
                        throws IOException

Resets the tachometer

Parameters:

port - Output port (0-2)

relative - TRUE: position relative to last movement, FALSE: absolute position

Throws:

IOException

setVerify

public void setVerify(boolean verify)

close

public void close()
           throws IOException

Call the close() command when your program ends, otherwise you will have to turn the NXT brick off/on before you run another program using iCommand.

Throws:

IOException

getBatteryLevel

public int getBatteryLevel()
                    throws IOException

Throws:

IOException

getInputValues

public InputValues getInputValues(int port)
                           throws IOException

Throws:

IOException

setInputMode

public byte setInputMode(int port,
                         int sensorType,
                         int sensorMode)
                  throws IOException

Tells the NXT what type of sensor you are using and the mode to operate in.

Parameters:

port - - 0 to 3

sensorType - - Enumeration for sensor type (see NXTProtocol)

sensorMode - - Enumeration for sensor mode (see NXTProtocol)

Throws:

IOException

playTone

public byte playTone(int frequency,
                     int duration)
              throws IOException

Plays a tone on NXT speaker. If a new tone is sent while the previous tone is playing, the new tone command will stop the old tone command.

Parameters:

frequency -

duration - - In milliseconds.

Returns:

- Returns true if command worked, false if it failed.

Throws:

IOException

getDeviceInfo

public DeviceInfo getDeviceInfo()
                         throws IOException

Throws:

IOException

getFirmwareVersion

public FirmwareInfo getFirmwareVersion()
                                throws IOException

Throws:

IOException

deleteUserFlash

public byte deleteUserFlash()
                     throws IOException

Deletes user flash memory (not including system modules).

Returns:

0 for success

Throws:

IOException