lejos.nxt.addon
Class NXTLineLeader

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

All Implemented Interfaces:

SensorConstants

public class NXTLineLeader
extends I2CSensor

This class manages the sensor NXT Line Leader from Mindsensors. The sensor add a sensor row to detect black/white lines. This sensor is perfect to build a robot which has the mission to follow a line.

Author:

Juan Antonio Brenha Moral, Eric Pascual (EP)

Nested Class Summary

static class	NXTLineLeader.Command
static class	NXTLineLeader.LineColor Color selector for white reading limit

Field Summary

Fields inherited from class lejos.nxt.I2CSensor

address, DEFAULT_I2C_ADDRESS, port, REG_PRODUCT_ID, REG_VENDOR_ID, REG_VERSION

Fields inherited from interface lejos.nxt.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, GREEN, GREEN_INDEX, MAX_AD_RAW, MAX_TYPE, MIN_TYPE, MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, RED, RED_INDEX, 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, WHITE, YELLOW

Constructor Summary

NXTLineLeader(I2CPort port)
Constructor

NXTLineLeader(I2CPort port, int address)
Constructor

Method Summary

void	calibrate(NXTLineLeader.LineColor color) Calibrate the white and black levels.
int	getAverage() Get the average value
int	getCalibratedSensorReading(int index) Get the calibrated reading of a given sensor
int	getCalibrationData(int index, NXTLineLeader.LineColor color) Get the calibration data for white and black colors for a given sensor
int	getKD() Get KD value
int	getKDDivisor() Get KD divisor
int	getKI() Get KI value
int	getKIDivisor() Get KI divisor
int	getKP() Get KP value
int	getKPDivisor() Get KP divisor
int	getReadingLimit(int index, NXTLineLeader.LineColor color) Get the calibration value for white and black colors for a given sensor
int	getResult() Get result value
int	getSensorStatus(int index) Deprecated.
int	getSetPoint() Get the set point of the PID.
int	getSteering() Get the steering value
void	sendCommand(char cmd) Deprecated. use sendCommand(Command) instead
void	sendCommand(NXTLineLeader.Command cmd) Send a single byte command represented by a letter
void	setKD(int KD) Set KD value
void	setKDDivisor(int value) Set the KD divisor
void	setKI(int KI) Set KI value
void	setKIDivisor(int value) Set the KI divisor
void	setKP(int KP) Set KP value
void	setKPDivisor(int value) Set the KP divisor
void	setSetPoint(int value) Set the set point of the PID
void	sleep() Sleep the sensor
void	wakeUp() Wake up the sensor

Methods inherited from class lejos.nxt.I2CSensor

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

Methods inherited from class java.lang.Object

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

Constructor Detail

NXTLineLeader

public NXTLineLeader(I2CPort port,
                     int address)

Constructor

Parameters:

port -

address - I2C address for the device

NXTLineLeader

public NXTLineLeader(I2CPort port)

Constructor

Parameters:

port -

Method Detail

sendCommand

public void sendCommand(NXTLineLeader.Command cmd)

Send a single byte command represented by a letter

Parameters:

cmd - the command to be sent

sendCommand

@Deprecated
public void sendCommand(char cmd)

Deprecated. use sendCommand(Command) instead

Original version of sendCOmmand, left for compatibility with legacy code.

This version has no checking of the validity of the passed command, so it is advised to use sendCommand(Command) instead.

Parameters:

cmd - the character based command

sleep

public void sleep()

Sleep the sensor

wakeUp

public void wakeUp()

Wake up the sensor

calibrate

public void calibrate(NXTLineLeader.LineColor color)

Calibrate the white and black levels.

Parameters:

color - color selector

getSteering

public int getSteering()

Get the steering value

Steering is a signed value in the range [-100,+100] representing the amount of power to be added/subtracted to motors power setting. In case we cannot read the sensor, Integer.MIN_VALUE is returned to notify the anomaly.

getAverage

public int getAverage()

Get the average value

getResult

public int getResult()

Get result value

getSetPoint

public int getSetPoint()

Get the set point of the PID.

setSetPoint

public void setSetPoint(int value)

Set the set point of the PID

getKP

public int getKP()

Get KP value

setKP

public void setKP(int KP)

Set KP value

getKPDivisor

public int getKPDivisor()

Get KP divisor

setKPDivisor

public void setKPDivisor(int value)

Set the KP divisor

getKI

public int getKI()

Get KI value

setKI

public void setKI(int KI)

Set KI value

getKIDivisor

public int getKIDivisor()

Get KI divisor

setKIDivisor

public void setKIDivisor(int value)

Set the KI divisor

getKD

public int getKD()

Get KD value

setKD

public void setKD(int KD)

Set KD value

getKDDivisor

public int getKDDivisor()

Get KD divisor

setKDDivisor

public void setKDDivisor(int value)

Set the KD divisor

getSensorStatus

@Deprecated
public int getSensorStatus(int index)

Deprecated.

Get status from each sensor in the raw

getCalibratedSensorReading

public int getCalibratedSensorReading(int index)

Get the calibrated reading of a given sensor

Parameters:

index - sensor index (must be in range [1..8])

Returns:

sensor reading (in range [0..100]), or -1 if reading error

Throws:

IllegalArgumentException - if index not in range

getReadingLimit

public int getReadingLimit(int index,
                           NXTLineLeader.LineColor color)

Get the calibration value for white and black colors for a given sensor

Parameters:

index - sensor index (must be in range [1..8])

color - color selector

Returns:

calibration value (in range [0..255]), or -1 if reading error

Throws:

IllegalArgumentException - if index not in range

getCalibrationData

public int getCalibrationData(int index,
                              NXTLineLeader.LineColor color)

Get the calibration data for white and black colors for a given sensor

Parameters:

index - sensor index (must be in range [1..8])

color - color selector

Returns:

calibration data (in range [0..255]), or -1 if reading error

Throws:

IllegalArgumentException - if index not in range