lejos.hardware.device

Class IRLink

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.device.IRLink

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, IRTransmitter, SensorConstants, SensorMode, SensorModes, Opcode, SampleProvider

public class IRLink
extends I2CSensor
implements Opcode, IRTransmitter

Supports for HiTechnic NXT IRLink Sensor (NIL1046) IRLink.

Author:

Lawrie Griffiths

Field Summary

Fields

Modifier and Type	Field and Description
static byte	PF_BACKWARD
static byte	PF_BRAKE
static byte	PF_FLOAT
static byte	PF_FORWARD
static byte	PF_MODE_COMBO_DIRECT
static int	RCX_REMOTE_A_BWD
static int	RCX_REMOTE_A_FWD
static int	RCX_REMOTE_B_BWD
static int	RCX_REMOTE_B_FWD
static int	RCX_REMOTE_BEEP
static int	RCX_REMOTE_C_BWD
static int	RCX_REMOTE_C_FWD
static int	RCX_REMOTE_MSG1
static int	RCX_REMOTE_MSG2
static int	RCX_REMOTE_MSG3
static int	RCX_REMOTE_P1
static int	RCX_REMOTE_P2
static int	RCX_REMOTE_P3
static int	RCX_REMOTE_P4
static int	RCX_REMOTE_P5
static int	RCX_REMOTE_STOP

Fields inherited from class lejos.hardware.sensor.I2CSensor

address, DEFAULT_I2C_ADDRESS, port, REG_PRODUCT_ID, REG_VENDOR_ID, REG_VERSION, retryCount

Fields inherited from class lejos.hardware.sensor.BaseSensor

currentMode, modes

Fields inherited from class lejos.hardware.Device

closeList

Fields inherited from interface lejos.remote.rcx.Opcode

OPCODE_ABSOLUTE_VALUE, OPCODE_ABSOLUTE_VALUE_REPLY, OPCODE_ADD_TO_VARIABLE, OPCODE_ADD_TO_VARIABLE_REPLY, OPCODE_ALIVE, OPCODE_ALIVE_REPLY, OPCODE_AND_VARIABLE, OPCODE_AND_VARIABLE_REPLY, OPCODE_BRANCH_ALWAYS_FAR, OPCODE_BRANCH_ALWAYS_NEAR, OPCODE_CALL_SUBROUTINE, OPCODE_CLEAR_MESSAGE, OPCODE_CLEAR_SENSOR_VALUE, OPCODE_CLEAR_SENSOR_VALUE_REPLY, OPCODE_CLEAR_TIMER, OPCODE_CLEAR_TIMER_REPLY, OPCODE_DATALOG_NEXT, OPCODE_DATALOG_NEXT_REPLY, OPCODE_DECREMENT_LOOP_COUNTER_FAR, OPCODE_DECREMENT_LOOP_COUNTER_NEAR, OPCODE_DELETE_ALL_SUBROUTINES, OPCODE_DELETE_ALL_SUBROUTINES_REPLY, OPCODE_DELETE_ALL_TASKS, OPCODE_DELETE_ALL_TASKS_REPLY, OPCODE_DELETE_FIRMWARE, OPCODE_DELETE_FIRMWARE_REPLY, OPCODE_DELETE_SUBROUTINE, OPCODE_DELETE_SUBROUTINE_REPLY, OPCODE_DELETE_TASK, OPCODE_DELETE_TASK_REPLY, OPCODE_DIVIDE_VARIABLE, OPCODE_DIVIDE_VARIABLE_REPLY, OPCODE_GET_BATTERY_POWER, OPCODE_GET_BATTERY_POWER_REPLY, OPCODE_GET_MEMORY_MAP, OPCODE_GET_MEMORY_MAP_REPLY, OPCODE_GET_VALUE, OPCODE_GET_VALUE_REPLY, OPCODE_GET_VERSIONS, OPCODE_GET_VERSIONS_REPLY, OPCODE_MASK, OPCODE_MULTIPLY_VARIABLE, OPCODE_MULTIPLY_VARIABLE_REPLY, OPCODE_OR_VARIABLE, OPCODE_OR_VARIABLE_REPLY, OPCODE_PLAY_SOUND_REPLY, OPCODE_PLAY_TONE, OPCODE_PLAY_TONE_REPLY, OPCODE_POWER_OFF, OPCODE_POWER_OFF_REPLY, OPCODE_REMOTE_COMMAND, OPCODE_SEND_MESSAGE, OPCODE_SET_DATALOG_SIZE, OPCODE_SET_DATALOG_SIZE_REPLY, OPCODE_SET_DISPLAY, OPCODE_SET_DISPLAY_REPLY, OPCODE_SET_LOOP_COUNTER, OPCODE_SET_MESSAGE, OPCODE_SET_MOTOR_DIRECTION, OPCODE_SET_MOTOR_DIRECTION_REPLY, OPCODE_SET_MOTOR_ON_OFF, OPCODE_SET_MOTOR_ON_OFF_REPLY, OPCODE_SET_MOTOR_POWER, OPCODE_SET_MOTOR_POWER_REPLY, OPCODE_SET_POWER_DOWN_DELAY, OPCODE_SET_POWER_DOWN_DELAY_REPLY, OPCODE_SET_PROGRAM_NUMBER, OPCODE_SET_PROGRAM_NUMBER_REPLY, OPCODE_SET_SENSOR_MODE, OPCODE_SET_SENSOR_MODE_REPLY, OPCODE_SET_SENSOR_TYPE, OPCODE_SET_SENSOR_TYPE_REPLY, OPCODE_SET_TIME, OPCODE_SET_TIME_REPLY, OPCODE_SET_TRANSMITTER_RANGE, OPCODE_SET_TRANSMITTER_RANGE_REPLY, OPCODE_SET_VARIABLE, OPCODE_SET_VARIABLE_REPLY, OPCODE_SIGN_VARIABLE, OPCODE_SIGN_VARIABLE_REPLY, OPCODE_START_FIRMWARE_DOWNLOAD, OPCODE_START_FIRMWARE_DOWNLOAD_REPLY, OPCODE_START_SUBROUTINE_DOWNLOAD, OPCODE_START_SUBROUTINE_DOWNLOAD_REPLY, OPCODE_START_TASK, OPCODE_START_TASK_DOWNLOAD, OPCODE_START_TASK_DOWNLOAD_REPLY, OPCODE_START_TASK_REPLY, OPCODE_STOP_ALL_TASKS, OPCODE_STOP_ALL_TASKS_REPLY, OPCODE_STOP_TASK, OPCODE_STOP_TASK_REPLY, OPCODE_SUBTRACT_FROM_VARIABLE, OPCODE_SUBTRACT_FROM_VARIABLE_REPLY, OPCODE_TEST_AND_BRANCH_FAR, OPCODE_TEST_AND_BRANCH_NEAR, OPCODE_TRANSFER_DATA, OPCODE_TRANSFER_DATA_REPLY, OPCODE_UNLOCK_FIRMWARE, OPCODE_UNLOCK_FIRMWARE_REPLY, OPCODE_UPLOAD_DATALOG, OPCODE_UPLOAD_DATALOG_REPLY, OPCODE_WAIT

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 and Description
IRLink(I2CPort port)
IRLink(Port port)

Method Summary

Modifier and Type	Method and Description
void	backwardStep(int motor)
void	beep()
void	forwardStep(int motor)
void	runProgram(int programNumber)
void	sendBytes(byte[] data, int len) Send raw bytes to the RCX
void	sendPacket(byte[] data) Send a packet of data to the RCX
void	sendPFComboDirect(int channel, int opA, int opB) Send commands to both motors.
void	sendRemoteCommand(int msg) Send a remote control command to the RCX
void	stopAllPrograms()

Methods inherited from class lejos.hardware.sensor.I2CSensor

fetchString, getAddress, getData, getData, getPort, getProductID, getRetryCount, getVendorID, getVersion, sendData, sendData, sendData, setAddress, setRetryCount

Methods inherited from class lejos.hardware.sensor.BaseSensor

fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, getName, sampleSize, setCurrentMode, setCurrentMode, setModes

Methods inherited from class lejos.hardware.Device

close, releaseOnClose

Methods inherited from class java.lang.Object

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

Field Detail

PF_MODE_COMBO_DIRECT

public static final byte PF_MODE_COMBO_DIRECT

See Also:

Constant Field Values

PF_FLOAT

public static final byte PF_FLOAT

See Also:

Constant Field Values

PF_FORWARD

public static final byte PF_FORWARD

See Also:

Constant Field Values

PF_BACKWARD

public static final byte PF_BACKWARD

See Also:

Constant Field Values

PF_BRAKE

public static final byte PF_BRAKE

See Also:

Constant Field Values

RCX_REMOTE_BEEP

public static int RCX_REMOTE_BEEP

RCX_REMOTE_STOP

public static int RCX_REMOTE_STOP

RCX_REMOTE_P5

public static int RCX_REMOTE_P5

RCX_REMOTE_P4

public static int RCX_REMOTE_P4

RCX_REMOTE_P3

public static int RCX_REMOTE_P3

RCX_REMOTE_P2

public static int RCX_REMOTE_P2

RCX_REMOTE_P1

public static int RCX_REMOTE_P1

RCX_REMOTE_C_BWD

public static int RCX_REMOTE_C_BWD

RCX_REMOTE_B_BWD

public static int RCX_REMOTE_B_BWD

RCX_REMOTE_A_BWD

public static int RCX_REMOTE_A_BWD

RCX_REMOTE_C_FWD

public static int RCX_REMOTE_C_FWD

RCX_REMOTE_B_FWD

public static int RCX_REMOTE_B_FWD

RCX_REMOTE_A_FWD

public static int RCX_REMOTE_A_FWD

RCX_REMOTE_MSG3

public static int RCX_REMOTE_MSG3

RCX_REMOTE_MSG2

public static int RCX_REMOTE_MSG2

RCX_REMOTE_MSG1

public static int RCX_REMOTE_MSG1

Constructor Detail

IRLink

public IRLink(I2CPort port)

IRLink

public IRLink(Port port)

Method Detail

sendPFComboDirect

public void sendPFComboDirect(int channel,
                              int opA,
                              int opB)

Send commands to both motors. Uses PF Combo direct mode.

Parameters:

channel - the channel number (0-3)

opA - Motor A operation

opB - Motor B operation

sendBytes

public void sendBytes(byte[] data,
                      int len)

Description copied from interface: IRTransmitter

Send raw bytes to the RCX

Specified by:

sendBytes in interface IRTransmitter

Parameters:

data - the raw data

len - the number of bytes

sendPacket

public void sendPacket(byte[] data)

Description copied from interface: IRTransmitter

Send a packet of data to the RCX

Specified by:

sendPacket in interface IRTransmitter

sendRemoteCommand

public void sendRemoteCommand(int msg)

Description copied from interface: IRTransmitter

Send a remote control command to the RCX

Specified by:

sendRemoteCommand in interface IRTransmitter

Parameters:

msg - the code for the remote command

runProgram

public void runProgram(int programNumber)

Specified by:

runProgram in interface IRTransmitter

beep

public void beep()

Specified by:

beep in interface IRTransmitter

stopAllPrograms

public void stopAllPrograms()

Specified by:

stopAllPrograms in interface IRTransmitter

forwardStep

public void forwardStep(int motor)

Specified by:

forwardStep in interface IRTransmitter

backwardStep

public void backwardStep(int motor)

Specified by:

backwardStep in interface IRTransmitter