lejos.nxt.addon
Class AngleSensor

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

All Implemented Interfaces:

SensorConstants

public class AngleSensor
extends I2CSensor

Supports the angle sensor of HiTechnic. This Java implementation was based on the NXC implementation on http://www.hitechnic.com/cgi-bin/commerce.cgi?preadd=action&key=NAA1030. Works clockwise, i.e. rotating clockwise increases angle value and rotating counter-clockwise decreases angle value.

Author:

Michael Mirwaldt (epcfreak@gmail.com)
date 2nd April 2011

Field Summary

protected static int	HTANGLE_MODE_CALIBRATE
protected static int	HTANGLE_MODE_RESET
protected static int	REG_ACCUMULATED_ANGLE
protected static int	REG_ANGLE
protected static int	REG_SPEED

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

AngleSensor(I2CPort port)

Method Summary

void	calibrateAngle() Calibrate the zero position of angle.
long	getAccAngle() reads the current accumulated angle
long	getAccumulatedAngle()
int	getAngle() reads the current angle
int	getRotationsPerMinute()
int	getRPM() reads the current rotations per minute
void	resetAccAngle() Reset the rotation count of accumulated angle to zero.
void	resetAccumulatedAngle()

Methods inherited from class lejos.nxt.I2CSensor

fetchString, getAddress, getData, getData, getData, getId, 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

REG_ANGLE

protected static final int REG_ANGLE

See Also:

Constant Field Values

REG_ACCUMULATED_ANGLE

protected static final int REG_ACCUMULATED_ANGLE

See Also:

Constant Field Values

REG_SPEED

protected static final int REG_SPEED

See Also:

Constant Field Values

HTANGLE_MODE_CALIBRATE

protected static final int HTANGLE_MODE_CALIBRATE

See Also:

Constant Field Values

HTANGLE_MODE_RESET

protected static final int HTANGLE_MODE_RESET

See Also:

Constant Field Values

Constructor Detail

AngleSensor

public AngleSensor(I2CPort port)

Method Detail

getAngle

public int getAngle()

reads the current angle

Returns:

angle. Value lies between 0-359

getAccumulatedAngle

public long getAccumulatedAngle()

See Also:

getAccAngle()

getAccAngle

public long getAccAngle()

reads the current accumulated angle

Returns:

the current accumulated angle. Value lies between -2147483648 to 2147483647.

getRPM

public int getRPM()

reads the current rotations per minute

Returns:

current rotations per minute. Value lies between -1000 to 1000.

getRotationsPerMinute

public int getRotationsPerMinute()

See Also:

getAccAngle()

resetAccumulatedAngle

public void resetAccumulatedAngle()

See Also:

resetAccAngle()

resetAccAngle

public void resetAccAngle()

Reset the rotation count of accumulated angle to zero. Not saved in EEPORM.

calibrateAngle

public void calibrateAngle()

Calibrate the zero position of angle. Zero position is saved in EEPROM on sensor. Thread sleeps for 50ms while that is done.