pt.citar.diablu.nxt.protocol
Class NXTCommandSetOutputState

java.lang.Object
  pt.citar.diablu.nxt.protocol.NXTCommand
      pt.citar.diablu.nxt.protocol.NXTCommandSetOutputState

public class NXTCommandSetOutputState
extends NXTCommand

This command allows you to set the output state, i.e., to control the NXT motors.

Author:

Jorge Cardoso

Field Summary

static byte	MODE_BRAKE The brake mode (bit field - can be combined with other modes).
static byte	MODE_MOTOR_ON The motor on mode (bit field - can be combined with other modes).
static byte	MODE_REGULATED The regulated mode (bit field - can be combined with other modes).
static byte	REGULATION_MODE_IDLE The idle regulation mode mode.
static byte	REGULATION_MODE_MOTOR_SPEED The motor speed regulation mode mode.
static byte	REGULATION_MODE_MOTOR_SYNC The motor sync regulation mode mode.
static byte	RUN_STATE_IDLE The idle run state.
static byte	RUN_STATE_RAMP_DOWN The ramp down run state.
static byte	RUN_STATE_RAMP_UP The ramp up run state.
static byte	RUN_STATE_RUNNING The running run state.

Constructor Summary

NXTCommandSetOutputState()
Creates a new instance of NXTCommandSetOutputState

NXTCommandSetOutputState(byte outputPort, byte powerSetPoint, byte modeByte, byte regulationMode, byte turnRatio, byte runState, long tachoLimit)
Constructs a new NXTCommandSetOutputState object with output port, power set point, mode byte, regulation mode, turn ration, run state and tacho limit and with no response requirement.

Method Summary

byte	getMode()
byte	getPowerSetPoint()
byte	getRunState()
long	getTachoLimit() TODO: Check.
void	setMode(byte mode) Sets the mode.
void	setPowerSetPoint(byte power) Sets the power set point.
void	setRegulationMode(byte regulationMode) Sets the regulation mode of the motor.
void	setRunState(byte runState) Sets the run state of the motor.
void	setTachoLimit(long tachoLimit) Sets the tacho limit.

Methods inherited from class pt.citar.diablu.nxt.protocol.NXTCommand

getPacketLength, isResponseRequired, sendCommand, setResponseRequired, toString

Methods inherited from class java.lang.Object

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

Field Detail

MODE_MOTOR_ON

public static final byte MODE_MOTOR_ON

The motor on mode (bit field - can be combined with other modes).

See Also:

Constant Field Values

MODE_BRAKE

public static final byte MODE_BRAKE

The brake mode (bit field - can be combined with other modes).

See Also:

Constant Field Values

MODE_REGULATED

public static final byte MODE_REGULATED

The regulated mode (bit field - can be combined with other modes).

See Also:

Constant Field Values

REGULATION_MODE_IDLE

public static final byte REGULATION_MODE_IDLE

The idle regulation mode mode. No regulation will be enabled.

See Also:

Constant Field Values

REGULATION_MODE_MOTOR_SPEED

public static final byte REGULATION_MODE_MOTOR_SPEED

The motor speed regulation mode mode. Power control will be enabled on specific output.

See Also:

Constant Field Values

REGULATION_MODE_MOTOR_SYNC

public static final byte REGULATION_MODE_MOTOR_SYNC

The motor sync regulation mode mode. Synchronization will be enabled. (Needs enabled on two outputs).

See Also:

Constant Field Values

RUN_STATE_IDLE

public static final byte RUN_STATE_IDLE

The idle run state.

See Also:

Constant Field Values

RUN_STATE_RAMP_UP

public static final byte RUN_STATE_RAMP_UP

The ramp up run state.

See Also:

Constant Field Values

RUN_STATE_RUNNING

public static final byte RUN_STATE_RUNNING

The running run state.

See Also:

Constant Field Values

RUN_STATE_RAMP_DOWN

public static final byte RUN_STATE_RAMP_DOWN

The ramp down run state.

See Also:

Constant Field Values

Constructor Detail

NXTCommandSetOutputState

public NXTCommandSetOutputState()

Creates a new instance of NXTCommandSetOutputState

NXTCommandSetOutputState

public NXTCommandSetOutputState(byte outputPort,
                                byte powerSetPoint,
                                byte modeByte,
                                byte regulationMode,
                                byte turnRatio,
                                byte runState,
                                long tachoLimit)

Constructs a new NXTCommandSetOutputState object with output port, power set point, mode byte, regulation mode, turn ration, run state and tacho limit and with no response requirement.

Parameters:

outputPort - The output port on which the motor is connected. Range: 0 - 2; 0xff is a special value that means ALL.

powerSetPoint - The power set point (-100 to 100).

modeByte - The mode byte (bit field). See MODE constants.

regulationMode - The regulation mode. See REGULATION_MODE constants.

turnRatio - The turn ratio (-100 to 100).

runState - The run state. See RUN_STATE constants.

tachoLimit - The tacho limit. 0 means forever.

Method Detail

setPowerSetPoint

public void setPowerSetPoint(byte power)

Sets the power set point.

Parameters:

power - The power set point. Range: -100; 100.

getPowerSetPoint

public byte getPowerSetPoint()

Returns:

The current power set point.

setRunState

public void setRunState(byte runState)

Sets the run state of the motor.

Parameters:

runState - The run state. See RUN_STATE constants.

getRunState

public byte getRunState()

Returns:

The current run state.

setRegulationMode

public void setRegulationMode(byte regulationMode)

Sets the regulation mode of the motor.

Parameters:

regulationMode - The regulation mode. See REGULATION_MODE constants.

setMode

public void setMode(byte mode)

Sets the mode.

Parameters:

mode - The mode. See MODE constants.

getMode

public byte getMode()

Returns:

The current mode.

setTachoLimit

public void setTachoLimit(long tachoLimit)

Sets the tacho limit.

Parameters:

tachoLimit - The tacho limit to set.

getTachoLimit

public long getTachoLimit()

TODO: Check.

Returns:

The current tacho limit.