lejos.nxt.addon
Class RCXLink

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

All Implemented Interfaces:

IRTransmitter, Opcode, SensorConstants

public class RCXLink
extends I2CSensor
implements Opcode, IRTransmitter

Supports Mindsensors NRLink RCX IR adapter.

Author:

Lawrie Griffiths

Field Summary

RCXMotor	A
RCXMotor	B
static byte	BEEP NOTE: The BEEP macro is unreliable.
RCXMotor	C
static int	DELAY
static int	EEPROM_BUFFER
static byte	LONG_RANGE_IR
static byte	MOTOR_A_FORWARD
static byte	MOTOR_A_REVERSED
static byte	MOTOR_B_FORWARD
static byte	MOTOR_B_REVERSED
static byte	MOTOR_C_FORWARD
static byte	MOTOR_C_REVERSED
static byte	POWER_OFF_RCX
static byte	RUN_PROGRAM_1
static byte	RUN_PROGRAM_2
static byte	RUN_PROGRAM_3
static byte	RUN_PROGRAM_4
static byte	RUN_PROGRAM_5
static byte	SHORT_RANGE_IR
static byte	STOP_ALL_PROGRAMS

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.rcxcomm.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.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

RCXLink(I2CPort port)

Method Summary

void	backward(int id)
void	backwardStep(int id)
void	beep()
int	bytesAvailable()
void	defineAndRun(byte[] macro, int len)
void	defineMacro(int addr, byte[] macro)
void	fltMotor(int id)
void	flush()
void	forward(int id)
void	forwardStep(int id)
int	getStatus()
void	ping()
void	powerOff()
int	readBytes(byte[] data)
void	runMacro(int addr)
void	runProgram(int programNumber)
void	sendBytes(byte[] data, int len) Send raw bytes to the RCX
void	sendF7(int msg)
void	sendPacket(byte[] packet) Send a packet of data to the RCX
void	sendRemoteCommand(int msg) Send a remote control command to the RCX
void	setAPDAOff()
void	setAPDAOn()
void	setDefaultSpeed()
void	setHighSpeed()
void	setMotorPower(int id, int power)
void	setRangeLong()
void	setRangeShort()
void	setRawMode()
void	setRCXRangeLong()
void	setRCXRangeShort()
void	startMotor(int id)
void	stopAllPrograms()
void	stopMotor(int id)

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

Field Detail

A

public RCXMotor A

B

public RCXMotor B

C

public RCXMotor C

SHORT_RANGE_IR

public static final byte SHORT_RANGE_IR

See Also:

Constant Field Values

LONG_RANGE_IR

public static final byte LONG_RANGE_IR

See Also:

Constant Field Values

POWER_OFF_RCX

public static final byte POWER_OFF_RCX

See Also:

Constant Field Values

RUN_PROGRAM_1

public static final byte RUN_PROGRAM_1

See Also:

Constant Field Values

RUN_PROGRAM_2

public static final byte RUN_PROGRAM_2

See Also:

Constant Field Values

RUN_PROGRAM_3

public static final byte RUN_PROGRAM_3

See Also:

Constant Field Values

RUN_PROGRAM_4

public static final byte RUN_PROGRAM_4

See Also:

Constant Field Values

RUN_PROGRAM_5

public static final byte RUN_PROGRAM_5

See Also:

Constant Field Values

STOP_ALL_PROGRAMS

public static final byte STOP_ALL_PROGRAMS

See Also:

Constant Field Values

MOTOR_A_FORWARD

public static final byte MOTOR_A_FORWARD

See Also:

Constant Field Values

MOTOR_A_REVERSED

public static final byte MOTOR_A_REVERSED

See Also:

Constant Field Values

MOTOR_B_FORWARD

public static final byte MOTOR_B_FORWARD

See Also:

Constant Field Values

MOTOR_B_REVERSED

public static final byte MOTOR_B_REVERSED

See Also:

Constant Field Values

MOTOR_C_FORWARD

public static final byte MOTOR_C_FORWARD

See Also:

Constant Field Values

MOTOR_C_REVERSED

public static final byte MOTOR_C_REVERSED

See Also:

Constant Field Values

BEEP

public static final byte BEEP

NOTE: The BEEP macro is unreliable. It works once, and then needs another command executed before it works again.

See Also:

Constant Field Values

EEPROM_BUFFER

public static final int EEPROM_BUFFER

See Also:

Constant Field Values

DELAY

public static final int DELAY

See Also:

Constant Field Values

Constructor Detail

RCXLink

public RCXLink(I2CPort port)

Method Detail

runMacro

public void runMacro(int addr)

beep

public void beep()

Specified by:

beep in interface IRTransmitter

runProgram

public void runProgram(int programNumber)

Specified by:

runProgram in interface IRTransmitter

forwardStep

public void forwardStep(int id)

Specified by:

forwardStep in interface IRTransmitter

backwardStep

public void backwardStep(int id)

Specified by:

backwardStep in interface IRTransmitter

setRCXRangeShort

public void setRCXRangeShort()

setRCXRangeLong

public void setRCXRangeLong()

powerOff

public void powerOff()

stopAllPrograms

public void stopAllPrograms()

Specified by:

stopAllPrograms in interface IRTransmitter

flush

public void flush()

setDefaultSpeed

public void setDefaultSpeed()

setHighSpeed

public void setHighSpeed()

setRangeLong

public void setRangeLong()

setRangeShort

public void setRangeShort()

setAPDAOn

public void setAPDAOn()

setAPDAOff

public void setAPDAOff()

defineMacro

public void defineMacro(int addr,
                        byte[] macro)

getStatus

public int getStatus()

bytesAvailable

public int bytesAvailable()

ping

public void ping()

sendF7

public void sendF7(int msg)

sendPacket

public void sendPacket(byte[] packet)

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

setMotorPower

public void setMotorPower(int id,
                          int power)

stopMotor

public void stopMotor(int id)

startMotor

public void startMotor(int id)

fltMotor

public void fltMotor(int id)

forward

public void forward(int id)

backward

public void backward(int id)

setRawMode

public void setRawMode()

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

readBytes

public int readBytes(byte[] data)

defineAndRun

public void defineAndRun(byte[] macro,
                         int len)