pt.citar.diablu.processing.nxt
Class LegoNXT

java.lang.Object
  pt.citar.diablu.processing.nxt.LegoNXT

public class LegoNXT
extends Object

The LegoNXT class allows you to control the Mindstorms NXT robotic system. The NXT must have been paired using Bluetooth and you must know the name of the virtual COM port assigned (COM1, COM2, or something like that).

Author:

Jorge Cardoso http://jorgecardoso.org

Field Summary

static int	ACTIVE The active light sensor type.
static int	BLUE The blue color sensor type.
static int	FULL The full color sensor type.
static int	GREEN The green color sensor type.
static int	INACTIVE The inactive light sensor type.
static int	MOTOR_A The motor port A.
static int	MOTOR_B The motor port B.
static int	MOTOR_C The motor port C.
static int	NONE The none color sensor type.
static int	PORT_1 The sensor port 1.
static int	PORT_2 The sensor port 2.
static int	PORT_3 The sensor port 3.
static int	PORT_4 The sensor port 4.
static int	RED The red color sensor type.

Constructor Summary

LegoNXT(PApplet parent, String commPort)
Creates a new instance of LegoNXT

Method Summary

void	dispose()
int	getBatteryLevel() Returns the battery level.
boolean	getButtonState(int portNumber) Returns the state of the pressure sensor at the specifiec port.
int	getColor(int portNumber) Returns the color level from the color sensor attached to the specified port.
int	getDB(int portNumber) Gets the DB level of the sound sensor on the specified port.
int	getDistance(int portNumber) Returns the proximity to an obstacle, measured by the ultrasonic sensor.
int	getLight(int portNumber) Returns the light level from the light sensor attached to the specified port.
long	getMotorBlockTachoCount(int motorNumber) Returns the current position realative to the last programmed movement.
long	getMotorRotationCount(int motorNumber) The current position relative to the last reset of the rotation sensor for this motor.
long	getMotorTachoCount(int motorNumber) Returns number of counts since last reset of the motor counter.
long	getMotorTachoLimit(int motorNumber) Returns the current limit on a movement in progress.
boolean	motorForward(int motorNumber, int power) Sets the power to the specified motor.
boolean	motorForwardLimit(int motorNumber, int power, int tachoLimit) Make the motor run for a specifiec amount of time.
boolean	motorHandBrake(int motorNumber) Stops the motor abruptely.
boolean	motorStop(int motorNumber) Stops the motor smoothely.
boolean	playTone(int frequency, int duration) Plays a tone on the NXT.
String	receiveMsg(int mailbox, boolean remove) Reads a BT message to the NXT.
void	resetMotorPosition(int motorNumber, boolean relative) Resets the motor position.
boolean	sendMsg(int mailbox, String message) Sends a BT message to the NXT.
void	setColorSensorType(int type, int portNumber) Sets the type of color sensor to be used on the specifiec port.
void	setLightSensorType(int type, int portNumber) Sets the type of light sensor to be used on the specifiec port.

Methods inherited from class java.lang.Object

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

Field Detail

MOTOR_A

public static final int MOTOR_A

The motor port A.

See Also:

Constant Field Values

MOTOR_B

public static final int MOTOR_B

The motor port B.

See Also:

Constant Field Values

MOTOR_C

public static final int MOTOR_C

The motor port C.

See Also:

Constant Field Values

PORT_1

public static final int PORT_1

The sensor port 1.

See Also:

Constant Field Values

PORT_2

public static final int PORT_2

The sensor port 2.

See Also:

Constant Field Values

PORT_3

public static final int PORT_3

The sensor port 3.

See Also:

Constant Field Values

PORT_4

public static final int PORT_4

The sensor port 4.

See Also:

Constant Field Values

ACTIVE

public static final int ACTIVE

The active light sensor type.

See Also:

Constant Field Values

INACTIVE

public static final int INACTIVE

The inactive light sensor type.

See Also:

Constant Field Values

FULL

public static final int FULL

The full color sensor type.

See Also:

Constant Field Values

RED

public static final int RED

The red color sensor type.

See Also:

Constant Field Values

GREEN

public static final int GREEN

The green color sensor type.

See Also:

Constant Field Values

BLUE

public static final int BLUE

The blue color sensor type.

See Also:

Constant Field Values

NONE

public static final int NONE

The none color sensor type.

See Also:

Constant Field Values

Constructor Detail

LegoNXT

public LegoNXT(PApplet parent,
               String commPort)

Creates a new instance of LegoNXT

Parameters:

parent - The PApplet. Use this.

commPort - The COM port where you connected the NXT. This is the name of the virtual COM port that was assigned to the NXT.

Method Detail

playTone

public boolean playTone(int frequency,
                        int duration)

Plays a tone on the NXT.

Parameters:

frequency - The frequency of the tone.

duration - The duration, in milliseconds, of the tone.

Returns:

True if all went ok. False otherwise.

sendMsg

public boolean sendMsg(int mailbox,
                       String message)

Sends a BT message to the NXT.

Parameters:

mailbox - number

message - The message string

Returns:

True if all went ok. False otherwise.

receiveMsg

public String receiveMsg(int mailbox,
                         boolean remove)

Reads a BT message to the NXT.

Parameters:

mailbox - Int mailbox number

remove - Boolean; true clears message from remote inbox

Returns:

String message

motorForward

public boolean motorForward(int motorNumber,
                            int power)

Sets the power to the specified motor.

Parameters:

motorNumber - The motor port (0, 1 or 2). The constants MOTOR_A, MOTOR_B and MOTOR_C should be used.

power - The power of the motor (-100, 100). Positive values make the motor fo forward, negative values make it go backwards.

Returns:

True if all ok. False on error.

motorForwardLimit

public boolean motorForwardLimit(int motorNumber,
                                 int power,
                                 int tachoLimit)

Make the motor run for a specifiec amount of time.

Parameters:

motorNumber - The motor port (0, 1 or 2). The constants MOTOR_A, MOTOR_B and MOTOR_C should be used.

power - The power of the motor (-100, 100). Positive values make the motor fo forward, negative values make it go backwards.

tachoLimit - The tacho limit on the motor. Haven't figured this out completely...

Returns:

True if all ok. False on error.

motorHandBrake

public boolean motorHandBrake(int motorNumber)

Stops the motor abruptely.

Parameters:

motorNumber - The motor port (0, 1 or 2). The constants MOTOR_A, MOTOR_B and MOTOR_C should be used.

Returns:

True if all ok. False on error.

motorStop

public boolean motorStop(int motorNumber)

Stops the motor smoothely.

Parameters:

motorNumber - The motor port (0, 1 or 2). The constants MOTOR_A, MOTOR_B and MOTOR_C should be used.

Returns:

True if all ok. False on error.

getMotorTachoLimit

public long getMotorTachoLimit(int motorNumber)

Returns the current limit on a movement in progress.

Parameters:

motorNumber - The motor port (0, 1 or 2). The constants MOTOR_A, MOTOR_B and MOTOR_C should be used.

Returns:

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

getMotorTachoCount

public long getMotorTachoCount(int motorNumber)

Returns number of counts since last reset of the motor counter.

Parameters:

motorNumber - The motor port (0, 1 or 2). The constants MOTOR_A, MOTOR_B and MOTOR_C should be used.

Returns:

The number of counts since last reset of the motor counter.

getMotorBlockTachoCount

public long getMotorBlockTachoCount(int motorNumber)

Returns the current position realative to the last programmed movement.

Parameters:

motorNumber - The motor port (0, 1 or 2). The constants MOTOR_A, MOTOR_B and MOTOR_C should be used.

Returns:

The current position realative to the last programmed movement.

getMotorRotationCount

public long getMotorRotationCount(int motorNumber)

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

Parameters:

motorNumber - The motor port (0, 1 or 2). The constants MOTOR_A, MOTOR_B and MOTOR_C should be used.

Returns:

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

resetMotorPosition

public void resetMotorPosition(int motorNumber,
                               boolean relative)

Resets the motor position.

Parameters:

motorNumber - The motor port (0, 1 or 2). The constants MOTOR_A, MOTOR_B and MOTOR_C should be used.

motorNumber -

getButtonState

public boolean getButtonState(int portNumber)

Returns the state of the pressure sensor at the specifiec port.

Parameters:

portNumber - The port number on which the pressure sensor is connected (the constants PORT_1, PORT_2, PORT_3 or PORT_4 should be used).

Returns:

True if sensor pressed. False if not pressed or on error.

getDB

public int getDB(int portNumber)

Gets the DB level of the sound sensor on the specified port.

Parameters:

portNumber - The port number on which the pressure sensor is connected (the constants PORT_1, PORT_2, PORT_3 or PORT_4 should be used).

Returns:

The DB level (0, 100). -1 on error.

getLight

public int getLight(int portNumber)

Returns the light level from the light sensor attached to the specified port.

Parameters:

portNumber - The port number on which the pressure sensor is connected (the constants PORT_1, PORT_2, PORT_3 or PORT_4 should be used).

Returns:

The light level (0..100). -1 on error

setLightSensorType

public void setLightSensorType(int type,
                               int portNumber)

Sets the type of light sensor to be used on the specifiec port.

Parameters:

type - The type of light sensor (ACTIVE or INACTIVE).

portNumber - The port number on which the pressure sensor is connected (the constants PORT_1, PORT_2, PORT_3 or PORT_4 should be used).

getColor

public int getColor(int portNumber)

Returns the color level from the color sensor attached to the specified port.

Parameters:

portNumber - The port number on which the pressure sensor is connected (the constants PORT_1, PORT_2, PORT_3 or PORT_4 should be used).

Returns:

The color level (0..100). -1 on error

setColorSensorType

public void setColorSensorType(int type,
                               int portNumber)

Sets the type of color sensor to be used on the specifiec port.

Parameters:

type - The type of color sensor (FULL or RED or GREEN or BLUE or NONE or RGB).

portNumber - The port number on which the pressure sensor is connected (the constants PORT_1, PORT_2, PORT_3 or PORT_4 should be used).

getDistance

public int getDistance(int portNumber)

Returns the proximity to an obstacle, measured by the ultrasonic sensor.

Parameters:

portNumber - The port number on which the pressure sensor is connected (the constants PORT_1, PORT_2, PORT_3 or PORT_4 should be used).

Returns:

The distance measured. -1 on error.

getBatteryLevel

public int getBatteryLevel()

Returns the battery level.

Returns:

The battery level in millivolts.

dispose

public void dispose()