lejos.nxt.addon
Class OpticalDistanceSensor

java.lang.Object
  lejos.nxt.I2CSensor
      lejos.nxt.addon.OpticalDistanceSensor

All Implemented Interfaces:

SensorConstants

public class OpticalDistanceSensor
extends I2CSensor

Supports Mindsensors DIST-Nx series of Optical Distance Sensor.
This sensor is used for greater precision than the Ultrasonic Sensor.

Author:

Michael Smith

Lum, Many thanks for helping me test this class.

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.

Field Summary

static byte	CUSTOM Custom sensor
static byte	GP2D12
static byte	GP2D120 DIST-Nx-Short
static byte	GP2YA02 DIST-Nx-Long
static byte	GP2YA21 DIST-Nx-Medium

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

OpticalDistanceSensor(I2CPort port)

Method Summary

int	getCurveCount() Gets the number of points that will be in the curve.
int	getDistance() Returns the distance from the object in millimeters.
int	getDistLSB() Returns the current distance in millimeters for the LSB.
int	getDistMaxLSB() Gets the max value in millimeters for the LSB. Used for recalibrating the sensor.
int	getDistMaxMSB() Gets the max value in millimeters for the MSB. Used for recalibrating the sensor.
int	getDistMinLSB() Gets the min value in millimeters for the LSB. Used for recalibrating the sensor.
int	getDistMinMSB() Gets the min value in millimeters for the MSB. Used for recalibrating the sensor.
int	getDistMSB() Returns the current distance in millimeters for MSB.
int	getDistPointLSB(int index) Gets millimeter value of the specific index for the LSB. Used for recalibrating the sensor.
int	getDistPointMSB(int index) Gets millimeter value of the specific index for the MSB.
int	getSensorModule() Used to determin the sensore module that is configured.
int	getVoltLSB() Returns the current voltage level in millivolts for the LSB.
int	getVoltMSB() Returns the current voltage level in millivolts for the MSB.
int	getVoltPointLSB(int index) Gets millivolts value of the specific index for the LSB.
int	getVoltPointMSB(int index) Gets millivolts value of the specific index for the MSB.
void	powerOff() Turns power to the sensor module off.
void	powerOn() Turns the sensor module on.
void	setAPDAOff() Disables (ADPA) Auto Detecting Parallel Architecture. Disabled by default.
void	setAPDAOn() Enables (ADPA) Auto Detecting Parallel Architecture.
void	setCurveCount(int value) Sets the number of points that will be in the configured curve.
void	setDistMaxLSB(int value) Sets the max value in millimeters for LSB. Used for recalibrating the sensor.
void	setDistMaxMSB(int value) Sets the max value in millimeters for the MSB. Used for recalibrating the sensor.
void	setDistMinLSB(int value) Sets the min value in millimeters for the LSB. Used for recalibrating the sensor.
void	setDistMinMSB(int value) Sets the min value in millimeters for the MSB. Used for recalibrating the sensor.
void	setDistPointLSB(int index, int value) Sets millimeter value of the specific index for the LSB.
void	setDistPointMSB(int index, int value) Sets millimeter value of the specific index for the MSB.
void	setSensorModule(byte module) This only needs the be run if you are changing the sensor.
void	setVoltPointLSB(int index, int value) Sets millivolts value of the specific index for the LSB.
void	setVoltPointMSB(int index, int value) Sets millivolts value of the specific index for the MSB.

Methods inherited from class lejos.nxt.I2CSensor

fetchString, getData, getPort, getProductID, getSensorType, getVersion, sendData, sendData, setAddress

Methods inherited from class java.lang.Object

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

Field Detail

GP2D12

public static final byte GP2D12

See Also:

Constant Field Values

GP2D120

public static final byte GP2D120

DIST-Nx-Short

See Also:

Constant Field Values

GP2YA21

public static final byte GP2YA21

DIST-Nx-Medium

See Also:

Constant Field Values

GP2YA02

public static final byte GP2YA02

DIST-Nx-Long

See Also:

Constant Field Values

CUSTOM

public static final byte CUSTOM

Custom sensor

See Also:

Constant Field Values

Constructor Detail

OpticalDistanceSensor

public OpticalDistanceSensor(I2CPort port)

Parameters:

port - NXT sensor port 1-4

Method Detail

setSensorModule

public void setSensorModule(byte module)

This only needs the be run if you are changing the sensor.

Parameters:

module - changes the sensor module attached the he board.

getDistance

public int getDistance()

Returns the distance from the object in millimeters. This returns the same value as getDistLSB.

Returns:

int

powerOn

public void powerOn()

Turns the sensor module on.
Power is turned on by the constuctor method.

powerOff

public void powerOff()

Turns power to the sensor module off.

setAPDAOn

public void setAPDAOn()

Enables (ADPA) Auto Detecting Parallel Architecture.
Once you have enabled it you dont have to enable again.

setAPDAOff

public void setAPDAOff()

Disables (ADPA) Auto Detecting Parallel Architecture.
Disabled by default.

getDistLSB

public int getDistLSB()

Returns the current distance in millimeters for the LSB.

Returns:

int

getDistMSB

public int getDistMSB()

Returns the current distance in millimeters for MSB.

Returns:

int

getVoltLSB

public int getVoltLSB()

Returns the current voltage level in millivolts for the LSB.

Returns:

int

getVoltMSB

public int getVoltMSB()

Returns the current voltage level in millivolts for the MSB.

Returns:

int

getSensorModule

public int getSensorModule()

Used to determin the sensore module that is configured. This can be helpful if the sensor is not working properly.

Returns:

int

getCurveCount

public int getCurveCount()

Gets the number of points that will be in the curve. This corisponds with the set/get Volt and Distance methods.
Used for recalibrating the sensor.

Returns:

int

setCurveCount

public void setCurveCount(int value)

Sets the number of points that will be in the configured curve. This corisponds with the set/get Vold and Distance points methods.
Used for recalibrating the sensor.

Parameters:

value - max 39

getDistMinLSB

public int getDistMinLSB()

Gets the min value in millimeters for the LSB.
Used for recalibrating the sensor.

Returns:

int

setDistMinLSB

public void setDistMinLSB(int value)

Sets the min value in millimeters for the LSB.
Used for recalibrating the sensor.

Parameters:

value - int

getDistMinMSB

public int getDistMinMSB()

Gets the min value in millimeters for the MSB.
Used for recalibrating the sensor.

Returns:

int

setDistMinMSB

public void setDistMinMSB(int value)

Sets the min value in millimeters for the MSB.
Used for recalibrating the sensor.

Parameters:

value - int

getDistMaxLSB

public int getDistMaxLSB()

Gets the max value in millimeters for the LSB.
Used for recalibrating the sensor.

Returns:

int

setDistMaxLSB

public void setDistMaxLSB(int value)

Sets the max value in millimeters for LSB.
Used for recalibrating the sensor.

Parameters:

value - int

getDistMaxMSB

public int getDistMaxMSB()

Gets the max value in millimeters for the MSB.
Used for recalibrating the sensor.

Returns:

int

setDistMaxMSB

public void setDistMaxMSB(int value)

Sets the max value in millimeters for the MSB.
Used for recalibrating the sensor.

Parameters:

value - int

getVoltPointLSB

public int getVoltPointLSB(int index)

Gets millivolts value of the specific index for the LSB. These will corispond with the point methods index value.
Used for recalibrating the sensor.

Parameters:

index - max 39

Returns:

int

setVoltPointLSB

public void setVoltPointLSB(int index,
                            int value)

Sets millivolts value of the specific index for the LSB. These will corispond with the point methods index value.
Used for recalibrating the sensor.

Parameters:

index - max 39

value - int

getVoltPointMSB

public int getVoltPointMSB(int index)

Gets millivolts value of the specific index for the MSB. These will corispond with the point methods index value.
Used for recalibrating the sensor.

Parameters:

index - max 39

Returns:

Returns int

setVoltPointMSB

public void setVoltPointMSB(int index,
                            int value)

Sets millivolts value of the specific index for the MSB. These will corispond with the point methods index value.
Used for recalibrating the sensor.

Parameters:

index - max 39

value - int

getDistPointLSB

public int getDistPointLSB(int index)

Gets millimeter value of the specific index for the LSB.
Used for recalibrating the sensor.

Parameters:

index - max 39

Returns:

Returns int

setDistPointLSB

public void setDistPointLSB(int index,
                            int value)

Sets millimeter value of the specific index for the LSB.
Used for recalibrating the sensor.

Parameters:

index - max 39

value - int

getDistPointMSB

public int getDistPointMSB(int index)

Gets millimeter value of the specific index for the MSB.
Used for recalibrating the sensor.

Parameters:

index - max 39

Returns:

int

setDistPointMSB

public void setDistPointMSB(int index,
                            int value)

Sets millimeter value of the specific index for the MSB.
Used for recalibrating the sensor.

Parameters:

index - max 39.

value - int