lejos.nxt.addon
Class DIMUGyro

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

All Implemented Interfaces:

SensorConstants

public class DIMUGyro
extends I2CSensor

This class provides access to the gyro of Dexter Industries IMU sensor. Rate data can be fetched using the fetchAllRate method. Temperature data can be fetched using the fetchTemperature method.

Orientation of Axes: Assuming the flat side of the dIMU sensor is facing you and the sensor port is at the bottom, the axes are as follows: X axis runs from top to bottom, Y axis runs left to right, Z axis comes directly out the front of the sensor board.

Version:

1.0

Author:

Aswin Bouwmeester

Nested Class Summary

static class	DIMUGyro.Axis Axis units supported by the sensor.
static class	DIMUGyro.Range Dynamic ranges supported by the sensor
static class	DIMUGyro.RateUnits Rotation units supported by the sensor
static class	DIMUGyro.SampleRate Internal sample rates supported by the sensor
static class	DIMUGyro.TemperatureUnits Temperature units supported by the sensor

Field Summary

protected boolean[]	dynamicOffset
protected float	I
protected float[]	offset
protected DIMUGyro.Range	range
protected DIMUGyro.RateUnits	rateUnit
protected DIMUGyro.SampleRate	sampleRate
protected DIMUGyro.TemperatureUnits	temperatureUnit

Fields inherited from class lejos.nxt.I2CSensor

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

DIMUGyro(I2CPort port)

Method Summary

void	calculateOffset() Calibrates the sensor
void	fetchAllRate(float[] ret)
void	fetchAllRate(float[] ret, DIMUGyro.RateUnits unit)
float	fetchTemperature() Temperature is not calibrated.
Gyroscope	getAxis(DIMUGyro.Axis axis) This method returns an instance of one of the three axes (X, Y, or Z) that the dIMU can supply.
boolean[]	getDynamicOffset()
float	getOffsetCorrectionSpeed()
java.lang.String	getProductID() Read the sensor's product identifier.
DIMUGyro.Range	getRange()
DIMUGyro.RateUnits	getRateUnit()
void	getRawRate(int[] ret)
DIMUGyro.SampleRate	getSampleRate()
DIMUGyro.TemperatureUnits	getTemperatureUnit()
java.lang.String	getVendorID() Read the sensor's vendor identifier.
java.lang.String	getVersion() Read the sensor's version string.
protected boolean	isDataOverrun()
boolean	isNewDataAvailable() Returns true if new data is available from the sensor
void	setDynamicOffset(boolean[] set) Enables or disables the dynamic offset correction mechanism of the sensor Dynamic offset correction assumes that in the long run the sensor keeps its orientation.
void	setOffsetCorrectionSpeed(float i)
void	setRange(DIMUGyro.Range range)
void	setRateUnit(DIMUGyro.RateUnits unit)
void	setSampleRate(DIMUGyro.SampleRate rate)
void	setTemperatureUnit(DIMUGyro.TemperatureUnits unit)

Methods inherited from class lejos.nxt.I2CSensor

fetchString, getAddress, getData, getData, getData, getId, sendData, sendData, sendData, setAddress

Methods inherited from class java.lang.Object

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

Field Detail

I

protected float I

dynamicOffset

protected boolean[] dynamicOffset

offset

protected float[] offset

range

protected DIMUGyro.Range range

sampleRate

protected DIMUGyro.SampleRate sampleRate

temperatureUnit

protected DIMUGyro.TemperatureUnits temperatureUnit

rateUnit

protected DIMUGyro.RateUnits rateUnit

Constructor Detail

DIMUGyro

public DIMUGyro(I2CPort port)

Method Detail

getAxis

public Gyroscope getAxis(DIMUGyro.Axis axis)

This method returns an instance of one of the three axes (X, Y, or Z) that the dIMU can supply.

Parameters:

axis - The axis (X, Y or Z) to retrieve Gyroscope object

Returns:

A Gyroscope object representing the axis you requested.

calculateOffset

public void calculateOffset()

Calibrates the sensor

fetchAllRate

public void fetchAllRate(float[] ret)

fetchAllRate

public void fetchAllRate(float[] ret,
                         DIMUGyro.RateUnits unit)

fetchTemperature

public float fetchTemperature()

Temperature is not calibrated.

Returns:

temperature in degrees Celsius

getDynamicOffset

public boolean[] getDynamicOffset()

getOffsetCorrectionSpeed

public float getOffsetCorrectionSpeed()

getProductID

public java.lang.String getProductID()

Description copied from class: I2CSensor

Read the sensor's product identifier. This method reads up to 8 bytes and returns the characters before the zero termination byte. Examples: "Sonar", ...

Overrides:

getProductID in class I2CSensor

Returns:

product identifier

getRange

public final DIMUGyro.Range getRange()

getRateUnit

public DIMUGyro.RateUnits getRateUnit()

getRawRate

public void getRawRate(int[] ret)

getSampleRate

public final DIMUGyro.SampleRate getSampleRate()

getVendorID

public java.lang.String getVendorID()

Description copied from class: I2CSensor

Read the sensor's vendor identifier. This method reads up to 8 bytes and returns the characters before the zero termination byte. Examples: "LEGO", "HiTechnc", ...

Overrides:

getVendorID in class I2CSensor

Returns:

vendor identifier

getTemperatureUnit

public DIMUGyro.TemperatureUnits getTemperatureUnit()

getVersion

public java.lang.String getVersion()

Description copied from class: I2CSensor

Read the sensor's version string. This method reads up to 8 bytes and returns the characters before the zero termination byte. Examples: "V1.0", ...

Overrides:

getVersion in class I2CSensor

Returns:

version number

isDataOverrun

protected boolean isDataOverrun()

isNewDataAvailable

public boolean isNewDataAvailable()

Returns true if new data is available from the sensor

setDynamicOffset

public void setDynamicOffset(boolean[] set)

Enables or disables the dynamic offset correction mechanism of the sensor Dynamic offset correction assumes that in the long run the sensor keeps its orientation. It updates the offset using a I-controller. The update speed (I-factor) is controlled by setOffsetCorrectionSpeed().

It is advised not to use dynamic offset for this sensor.

Parameters:

set - an 3-element array of booleans. True enables Dynamic Offset Correction, false disables it. Order of elements is X, Y, Z.

setOffsetCorrectionSpeed

public void setOffsetCorrectionSpeed(float i)

setRange

public void setRange(DIMUGyro.Range range)

setRateUnit

public void setRateUnit(DIMUGyro.RateUnits unit)

setSampleRate

public void setSampleRate(DIMUGyro.SampleRate rate)

setTemperatureUnit

public void setTemperatureUnit(DIMUGyro.TemperatureUnits unit)