lejos.hardware.sensor

Class HiTechnicCompass

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.sensor.HiTechnicCompass

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, SensorConstants, SensorMode, SensorModes, Calibrate, SampleProvider

public class HiTechnicCompass
extends I2CSensor
implements Calibrate

HiTechnic compass sensor Sensor name
The HiTechnic compass measures the earth's magnetic field and calculates a heading angle.

The code for this sensor has not been tested. Please report test results to the leJOS forum.

Supported modes
Mode name	Description	unit(s)	Getter
Compass	Measures the orientation of the sensor	Degrees, corresponding to the compass rose	getCompassMode()
Angle	Measures the orientation of the sensor	Degrees, corresponding to the right hand coordinate system	getAngleMode()

Sensor configuration
The sensor can be calibrated for magnetic disturbances coming from the robot (soft iron calibration). Use the startCalibration method to put the sensor in calibration mode. While in calibration mode the sensor should be rotated slowly for making at least 1.5 full rotations. Then end calibration with the endCalibration method.

See Sensor Product page See The leJOS sensor framework See leJOS conventions for SampleProviders

Author:

Your name

Field Summary

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.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
HiTechnicCompass(I2CPort port) Create a compass sensor object
HiTechnicCompass(I2CPort port, int address) Create a compass sensor object
HiTechnicCompass(Port port) Create a compass sensor object
HiTechnicCompass(Port port, int address) Create a compass sensor object

Method Summary

Modifier and Type	Method and Description
SensorMode	getAngleMode() HiTechnic compass sensor, Angle mode Measures the color of a surface.
SensorMode	getCompassMode() HiTechnic compass sensor, Compass mode Measures the bearing of the sensor.
protected void	init()
void	startCalibration() Starts calibration for the compass.
void	stopCalibration() Ends calibration sequence.

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

Constructor Detail

HiTechnicCompass

public HiTechnicCompass(I2CPort port,
                        int address)

Create a compass sensor object

Parameters:

port - I2C port for the compass

address - The I2C address used by the sensor

HiTechnicCompass

public HiTechnicCompass(I2CPort port)

Create a compass sensor object

Parameters:

port - I2C port for the compass

HiTechnicCompass

public HiTechnicCompass(Port port,
                        int address)

Create a compass sensor object

Parameters:

port - Sensor port for the compass

address - The I2C address used by the sensor

HiTechnicCompass

public HiTechnicCompass(Port port)

Create a compass sensor object

Parameters:

port - Sensor port for the compass

Method Detail

init

protected void init()

getCompassMode

public SensorMode getCompassMode()

HiTechnic compass sensor, Compass mode
Measures the bearing of the sensor.

Size and content of the sample
The sample contains one element containing the bearing of the sensor relative to north expressed in degrees. East being at 90 degrees.

getAngleMode

public SensorMode getAngleMode()

HiTechnic compass sensor, Angle mode
Measures the color of a surface.

Size and content of the sample
The sample contains one element containing the bearing of the sensor relative to north expressed in degrees using a right hand coordinate system in the range of (-180 to 180). West being at 90 degrees, east being at -90 degrees.

startCalibration

public void startCalibration()

Starts calibration for the compass. Must rotate *very* slowly, taking at least 20 seconds per rotation. Should make 1.5 to 2 full rotations. Must call stopCalibration() when done.

Specified by:

startCalibration in interface Calibrate

stopCalibration

public void stopCalibration()

Ends calibration sequence.

Specified by:

stopCalibration in interface Calibrate