icommand.platform.nxt
Class Ultrasonic

java.lang.Object
  icommand.platform.nxt.I2CSensor
      icommand.platform.nxt.Ultrasonic

public class Ultrasonic
extends I2CSensor

Constructor Summary

Ultrasonic(Sensor s)
Sets the sensor to LOWSPEED_9V and puts it into continuous measurement.

Method Summary

void	calibrate(byte scaleFactor, byte scaleDivisor, byte zero) If your sensor readings seem off, you can calibrate the sensor to make it different from factory settings.
int	getDistance() Returns the distance to the closest object.
byte[]	getDistances() The ultrasonic sensor is capable of sending a ping and recording up to 8 echoes.
int	getFactoryScaleDivisor() Gets the default scale factor, which produces either cm's, inches, or some other unit.
int	getFactoryScaleFactor() Gets the default scale factor, which produces either cm's, inches, or some other unit.
int	getFactoryZero() Gets the default "zero" point, which is 0.
int	getMeasurementInterval() The time interval between measurements in continuous mode.
java.lang.String	getMeasurementUnits() Returns some sort of string that indicates measurement units.
int	getScaleFactor() Gets the scale factor, which produces either cm's, inches, or some other unit.
void	setMeasurementInterval(byte interval)
void	setMetric(boolean isMetric) Determines if the sensor produces distances in cm or inches.
void	setScaleDivisor(byte divisor)
void	setScaleFactor(byte scale) Sets the scale factor, producing either cm's, inches, or some other unit.
void	setSensorMode(byte modeEnumeration) Sets the state for the sensor.
void	setZero(byte zeroPoint)

Methods inherited from class icommand.platform.nxt.I2CSensor

getId, getProductID, getSensorType, getVersion

Methods inherited from class java.lang.Object

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

Constructor Detail

Ultrasonic

public Ultrasonic(Sensor s)

Sets the sensor to LOWSPEED_9V and puts it into continuous measurement.

Parameters:

s -

Method Detail

setSensorMode

public void setSensorMode(byte modeEnumeration)

Sets the state for the sensor. e.g. off, single pulse, continuous, passive, warm reset.

Parameters:

modeEnumeration - e.g. OFF, SINGLE_SHOT, CONTINUOUS_MEASUREMENT, EVENT_CAPTURE, REQUEST_WARM_RESET

getDistance

public int getDistance()

Returns the distance to the closest object.

Returns:

Default value is in centimeters.

setMetric

public void setMetric(boolean isMetric)

Determines if the sensor produces distances in cm or inches. NOT CURRENTLY IMPLEMENTED (cm default)

Parameters:

isMetric - true = cm's, false = inches

getDistances

public byte[] getDistances()

The ultrasonic sensor is capable of sending a ping and recording up to 8 echoes. A SINGLE_SHOT command is used, rather than continuous pings. This method returns an array of up to 8 distances picked up by the Ultrasonic sensor.

Returns:

eight distance values, mostly will be 0.

getMeasurementInterval

public int getMeasurementInterval()

The time interval between measurements in continuous mode.

Returns:

Value 0-255 in MS

setScaleFactor

public void setScaleFactor(byte scale)

Sets the scale factor, producing either cm's, inches, or some other unit.

Parameters:

interval - !! Can be a number 0 to 255 likely. Need to use short.

setZero

public void setZero(byte zeroPoint)

setScaleDivisor

public void setScaleDivisor(byte divisor)

calibrate

public void calibrate(byte scaleFactor,
                      byte scaleDivisor,
                      byte zero)

If your sensor readings seem off, you can calibrate the sensor to make it different from factory settings.

Parameters:

scaleFactor - Raw reading is multiplied by this number. 1 = factory setting.

scaleDivisor - Raw reading divides by this number. 14 = factory setting

zero - e.g. If you find the real distance is 10 cm and the sensor says 12 cm you can adjust the zero. 0 = factory setting.

getScaleFactor

public int getScaleFactor()

Gets the scale factor, which produces either cm's, inches, or some other unit.

Returns:

0-255

getFactoryScaleFactor

public int getFactoryScaleFactor()

Gets the default scale factor, which produces either cm's, inches, or some other unit.

Returns:

0-255

getFactoryScaleDivisor

public int getFactoryScaleDivisor()

Gets the default scale factor, which produces either cm's, inches, or some other unit.

Returns:

0-255

getFactoryZero

public int getFactoryZero()

Gets the default "zero" point, which is 0.

setMeasurementInterval

public void setMeasurementInterval(byte interval)

Parameters:

interval - !! Can be a number 0 to 255 likely. Need to use short.

getMeasurementUnits

public java.lang.String getMeasurementUnits()

Returns some sort of string that indicates measurement units. NOTE: A little unreliable at the moment due to a bug in firmware. Keep trying if it doesn't get it the first time.

Returns:

e.g. "10E-2m"