pt.citar.diablu.nxt.protocol
Class NXTResponseGetOutputState

java.lang.Object
  pt.citar.diablu.nxt.protocol.NXTResponse
      pt.citar.diablu.nxt.protocol.NXTResponseGetOutputState

public class NXTResponseGetOutputState
extends NXTResponse

Author:

Jorge Cardoso

Field Summary

Fields inherited from class pt.citar.diablu.nxt.protocol.NXTResponse

ATTEMPTED_TO_ACCESS_INVALID_FIELD_OF_A_STRUCTURE, BAD_ARGUMENTS, BAD_INPUT_OR_OUTPUT_SPECIFIED, COMMUNICATION_BUS_ERROR, DATA_CONTAINS_OUT_OF_RANGE_VALUES, ILLEGAL_MAILBOX_QUEUE_ID_SPECIFIED, ILLEGAL_SIZE_SPECIFIED, INSANE_PACKET, INSUFFICIENT_MEMORY_AVAILABLE, NO_ACTIVE_PROGRAM, NO_FREE_MEMORY_IN_COMMUNICATION_BUFFER, PENDING_COMMUNICATION_TRANSACTION_IN_PROGRESS, REQUEST_FAILED, SPECIFIED_CHANNEL_CONNECTION_IS_NOT_VALID, SPECIFIED_CHANNEL_CONNECTION_NOT_CONFIGURED_OR_BUSY, SPECIFIED_MAILBOX_QUEUE_IS_EMPTY, SUCCESS, UNKNOWN_COMMAND_OPCODE

Constructor Summary

NXTResponseGetOutputState()

Method Summary

long	getBlockTachoCount()
byte	getOutputMode()
byte	getOutputPort()
byte	getPowerSetPoint()
byte	getRegulationMode()
long	getRotationCount()
byte	getRunState()
long	getTachoCount()
long	getTachoLimit()
byte	getTurnRatio()

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

getStatus, getStatusDescription, receiveResponse, toString

Methods inherited from class java.lang.Object

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

Constructor Detail

NXTResponseGetOutputState

public NXTResponseGetOutputState()

Method Detail

getOutputPort

public byte getOutputPort()

Returns:

The output port.

getPowerSetPoint

public byte getPowerSetPoint()

Returns:

The power set point [-100;100].

getOutputMode

public byte getOutputMode()

Returns:

The output mode. See mode constant values.

getRegulationMode

public byte getRegulationMode()

Returns:

The regulation mode. See regulation mode constant values.

getTurnRatio

public byte getTurnRatio()

Returns:

The turn ratio [-100; 100]

getRunState

public byte getRunState()

Returns:

The run state.

getTachoLimit

public long getTachoLimit()

Returns:

The current limit on a movement in progress, if any.

getTachoCount

public long getTachoCount()

Returns:

The number of counts since last reset of the motor. (Internal count).

getBlockTachoCount

public long getBlockTachoCount()

Returns:

The current position relative to last programmed movement.

getRotationCount

public long getRotationCount()

Returns:

The current position relative to last reset of the rotation sensor for this motor.