lejos.nxt
Class LServo

java.lang.Object
  lejos.nxt.I2CSensor
      lejos.nxt.LServo

All Implemented Interfaces:

SensorConstants

public class LServo
extends I2CSensor

LServo, Lattebox Servo, is a abstraction to model any Servo connected to LSC, Lattebox Servo Controller.

Author:

Juan Antonio Brenha Moral

Field Summary

Fields inherited from interface lejos.nxt.SensorConstants

MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, TYPE_ANGLE, TYPE_CUSTOM, 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

Constructor Summary

LServo(SensorPort port, int location, String servoName, byte SPI_PORT)
Constructor

Method Summary

int	getAngle(int Servo) Method to know the angle Note: In next version, I will delete servo parameter, because the object should know servo id.
String	getName() Get servo name
void	goToMaxAngle() Method to set maximum angle
void	goToMiddleAngle() Method to set medium angle
void	goToMinAngle() Method to set minimal angle
boolean	isMoving() Method to know if Servo is moving to a determinated angle
int	readMotion() public method to know internal information about if the servo is moving
void	setAngle(int servo, int angle) Method to setAngle in Servo.
void	setDelay(int Servo, int delay) Set a delay in Servo Note: In next version, I will delete servo parameter, because the object should know servo id.
void	setMaxAngle(int maxAngle) Set Maximum angle.
void	setMinAngle(int minAngle) Set Minimal angle.

Methods inherited from class lejos.nxt.I2CSensor

getData, getPort, getProductID, getSensorType, getVersion, sendData, sendData, setAddress

Methods inherited from class java.lang.Object

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

Constructor Detail

LServo

public LServo(SensorPort port,
              int location,
              String servoName,
              byte SPI_PORT)

Constructor

Parameters:

port -

location -

servoName -

SPI_PORT - Author: Juan Antonio Brenha Moral

Method Detail

setAngle

public void setAngle(int servo,
                     int angle)
              throws Exception

Method to setAngle in Servo. Note: In next version, I will delete servo parameter, because the object should know servo id.

Parameters:

servo -

angle -

Throws:

Exception - Author: Juan Antonio Brenha Moral

getAngle

public int getAngle(int Servo)
             throws Exception

Method to know the angle Note: In next version, I will delete servo parameter, because the object should know servo id.

Parameters:

Servo -

Returns:

angle

Throws:

Exception

readMotion

public int readMotion()
               throws Exception

public method to know internal information about if the servo is moving

Returns:

motion

Throws:

Exceptionl

Exception

isMoving

public boolean isMoving()
                 throws Exception

Method to know if Servo is moving to a determinated angle

Returns:

true iff the serv is moving

Throws:

Exception

setDelay

public void setDelay(int Servo,
                     int delay)

Set a delay in Servo Note: In next version, I will delete servo parameter, because the object should know servo id.

Parameters:

Servo -

delay -

setMinAngle

public void setMinAngle(int minAngle)

Set Minimal angle. Useful method to calibrate a Servo

Parameters:

minAngle -

setMaxAngle

public void setMaxAngle(int maxAngle)

Set Maximum angle. Useful method to calibrate a Servo

Parameters:

maxAngle -

goToMinAngle

public void goToMinAngle()
                  throws Exception

Method to set minimal angle

Throws:

Exception

goToMaxAngle

public void goToMaxAngle()
                  throws Exception

Method to set maximum angle

Throws:

Exception

goToMiddleAngle

public void goToMiddleAngle()
                     throws Exception

Method to set medium angle

Throws:

Exception

getName

public String getName()

Get servo name