lejos.nxt
Class I2CSensor

java.lang.Object
  lejos.nxt.I2CSensor

All Implemented Interfaces:

SensorConstants

Direct Known Subclasses:

ColorSensor, CompassSensor, IRLink, IRSeeker, LMotor, LSC, MSC, MServo, NXTCam, NXTe, NXTLineLeader, OpticalDistanceSensor, PFLink, PFMate, PSPNXController, RCXLink, RCXMotorMultiplexer, RCXSensorMultiplexer, RFIDSensor, TiltSensor, UltrasonicSensor

public class I2CSensor
extends Object
implements SensorConstants

Abstract class that implements common methods for all I2C sensors. Extend this class to implement new I2C sensors.

Author:

Lawrie Griffiths (lawrie.griffiths@ntlworld.com).

Field Summary

protected static byte	PRODUCT_ID Returns the product ID of the sensor.
protected static byte	SENSOR_TYPE Returns the sensor type.
protected static byte	VERSION Returns the version number of the sensor.

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_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, 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

Constructor Summary

I2CSensor(I2CPort port)

I2CSensor(I2CPort port, int mode)

Method Summary

protected String	fetchString(int register, int len) Internal helper function, read a string from the device
int	getData(int register, byte[] buf, int len) Executes an I2C read transaction and waits for the result.
I2CPort	getPort() Get the port that the sensor is attached to
String	getProductID() Return the sensor product identifier.
String	getSensorType() Return the sensor type.
String	getVersion() Return the sensor version number.
int	sendData(int register, byte value) Executes an I2C write transaction.
int	sendData(int register, byte[] buf, int len) Executes an I2C write transaction.
void	setAddress(int addr) Set the address of the port Note that addresses are from 0x01 to 0x7F not even numbers from 0x02 to 0xFE as given in some I2C device specifications.

Methods inherited from class java.lang.Object

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

Field Detail

VERSION

protected static byte VERSION

Returns the version number of the sensor. e.g. "V1.0" Reply length = 8.

PRODUCT_ID

protected static byte PRODUCT_ID

Returns the product ID of the sensor. e.g. "LEGO" Reply length = 8.

SENSOR_TYPE

protected static byte SENSOR_TYPE

Returns the sensor type. e.g. "Sonar" Reply length = 8.

Constructor Detail

I2CSensor

public I2CSensor(I2CPort port,
                 int mode)

I2CSensor

public I2CSensor(I2CPort port)

Method Detail

getData

public int getData(int register,
                   byte[] buf,
                   int len)

Executes an I2C read transaction and waits for the result.

Parameters:

register - I2C register, e.g 0x41

buf - Buffer to return data

len - Length of the return data

Returns:

status == 0 success, != 0 failure

sendData

public int sendData(int register,
                    byte[] buf,
                    int len)

Executes an I2C write transaction.

Parameters:

register - I2C register, e.g 0x42

buf - Buffer containing data to send

len - Length of data to send

Returns:

status zero=success, non-zero=failure

sendData

public int sendData(int register,
                    byte value)

Executes an I2C write transaction.

Parameters:

register - I2C register, e.g 0x42

value - single byte to send

Returns:

status zero=success, non-zero=failure

getVersion

public String getVersion()

Return the sensor version number.

Returns:

8-byte string

getProductID

public String getProductID()

Return the sensor product identifier.

Returns:

8-byte string

getSensorType

public String getSensorType()

Return the sensor type.

Returns:

8-byte string

fetchString

protected String fetchString(int register,
                             int len)

Internal helper function, read a string from the device

Parameters:

register -

len - The length of the space padded reply.

Returns:

the requested string

setAddress

public void setAddress(int addr)

Set the address of the port Note that addresses are from 0x01 to 0x7F not even numbers from 0x02 to 0xFE as given in some I2C device specifications. They are 7-bit addresses not 8-bit addresses.

Parameters:

addr - 1 to 0x7F

getPort

public I2CPort getPort()

Get the port that the sensor is attached to

Returns:

the I2CPort