com.qualcomm.hardware.hitechnic

Class HiTechnicNxtIrSeekerSensor

java.lang.Object

com.qualcomm.robotcore.hardware.I2cControllerPortDeviceImpl

com.qualcomm.hardware.hitechnic.HiTechnicNxtIrSeekerSensor

All Implemented Interfaces:

HardwareDevice, I2cAddressableDevice, I2cController.I2cPortReadyCallback, I2cControllerPortDevice, IrSeekerSensor, RobotArmingStateNotifier.Callback

public class HiTechnicNxtIrSeekerSensor
extends I2cControllerPortDeviceImpl
implements IrSeekerSensor, I2cAddressableDevice, I2cController.I2cPortReadyCallback

HiTechnic NXT IR Seeker Sensor

Nested Class Summary

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.IrSeekerSensor

IrSeekerSensor.IrSeekerIndividualSensor, IrSeekerSensor.Mode

Nested classes/interfaces inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
static double	DEFAULT_SIGNAL_DETECTED_THRESHOLD
static byte	DIRECTION
static double[]	DIRECTION_TO_ANGLE
static I2cAddr	I2C_ADDRESS
static byte	INVALID_ANGLE
static byte	MAX_ANGLE
static double	MAX_SENSOR_STRENGTH
static int	MEM_AC_START_ADDRESS
static int	MEM_DC_START_ADDRESS
static int	MEM_MODE_ADDRESS
static int	MEM_READ_LENGTH
static byte	MIN_ANGLE
static byte	MODE_AC
static byte	MODE_DC
static byte	SENSOR_COUNT
static byte	SENSOR_FIRST

Fields inherited from class com.qualcomm.robotcore.hardware.I2cControllerPortDeviceImpl

controller, physicalPort

Constructor Summary

Constructors

Constructor and Description
HiTechnicNxtIrSeekerSensor(I2cController module, int physicalPort)

Method Summary

Modifier and Type	Method and Description
void	close() Closes this device
protected void	controllerNowArmedOrPretending() intended as a subclass hook
double	getAngle() Estimated angle in which the signal is coming from
java.lang.String	getConnectionInfo() Get connection information about this device in a human readable format
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
I2cAddr	getI2cAddress() Get the current I2C Address of this object.
IrSeekerSensor.IrSeekerIndividualSensor[]	getIndividualSensors() Get a list of all IR sensors attached to this seeker.
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
IrSeekerSensor.Mode	getMode() Get the device mode
double	getSignalDetectedThreshold() Get the minimum threshold for a signal to be considered detected
double	getStrength() IR Signal strength
int	getVersion() Version
void	portIsReady(int port)
void	resetDeviceConfigurationForOpMode() Resets the device's configuration to that which is expected at the beginning of an OpMode.
void	setI2cAddress(I2cAddr newAddress) Set the I2C address to a new value.
void	setMode(IrSeekerSensor.Mode mode) Set the device mode
void	setSignalDetectedThreshold(double threshold) Set the minimum threshold for a signal to be considered detected
boolean	signalDetected() Returns true if an IR signal is detected
java.lang.String	toString()

Methods inherited from class com.qualcomm.robotcore.hardware.I2cControllerPortDeviceImpl

controllerNowDisarmed, finishConstruction, getI2cController, getPort, onModuleStateChange

Methods inherited from class java.lang.Object

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

Field Detail

I2C_ADDRESS

public static final I2cAddr I2C_ADDRESS

MEM_MODE_ADDRESS

public static final int MEM_MODE_ADDRESS

See Also:

Constant Field Values

MEM_DC_START_ADDRESS

public static final int MEM_DC_START_ADDRESS

See Also:

Constant Field Values

MEM_AC_START_ADDRESS

public static final int MEM_AC_START_ADDRESS

See Also:

Constant Field Values

MEM_READ_LENGTH

public static final int MEM_READ_LENGTH

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Constant Field Values

MODE_AC

public static final byte MODE_AC

See Also:

Constant Field Values

MODE_DC

public static final byte MODE_DC

See Also:

Constant Field Values

DIRECTION

public static final byte DIRECTION

See Also:

Constant Field Values

SENSOR_FIRST

public static final byte SENSOR_FIRST

See Also:

Constant Field Values

SENSOR_COUNT

public static final byte SENSOR_COUNT

See Also:

Constant Field Values

MAX_SENSOR_STRENGTH

public static final double MAX_SENSOR_STRENGTH

See Also:

Constant Field Values

INVALID_ANGLE

public static final byte INVALID_ANGLE

See Also:

Constant Field Values

MIN_ANGLE

public static final byte MIN_ANGLE

See Also:

Constant Field Values

MAX_ANGLE

public static final byte MAX_ANGLE

See Also:

Constant Field Values

DIRECTION_TO_ANGLE

public static final double[] DIRECTION_TO_ANGLE

DEFAULT_SIGNAL_DETECTED_THRESHOLD

public static final double DEFAULT_SIGNAL_DETECTED_THRESHOLD

See Also:

Constant Field Values

Constructor Detail

HiTechnicNxtIrSeekerSensor

public HiTechnicNxtIrSeekerSensor(I2cController module,
                                  int physicalPort)

Method Detail

controllerNowArmedOrPretending

protected void controllerNowArmedOrPretending()

Description copied from class: I2cControllerPortDeviceImpl

intended as a subclass hook

Overrides:

controllerNowArmedOrPretending in class I2cControllerPortDeviceImpl

toString

public java.lang.String toString()

Overrides:

toString in class java.lang.Object

setSignalDetectedThreshold

public void setSignalDetectedThreshold(double threshold)

Description copied from interface: IrSeekerSensor

Set the minimum threshold for a signal to be considered detected

Specified by:

setSignalDetectedThreshold in interface IrSeekerSensor

Parameters:

threshold - minimum threshold

getSignalDetectedThreshold

public double getSignalDetectedThreshold()

Description copied from interface: IrSeekerSensor

Get the minimum threshold for a signal to be considered detected

Specified by:

getSignalDetectedThreshold in interface IrSeekerSensor

Returns:

threshold

setMode

public void setMode(IrSeekerSensor.Mode mode)

Description copied from interface: IrSeekerSensor

Set the device mode

Specified by:

setMode in interface IrSeekerSensor

Parameters:

mode - sample rate

getMode

public IrSeekerSensor.Mode getMode()

Description copied from interface: IrSeekerSensor

Get the device mode

Specified by:

getMode in interface IrSeekerSensor

Returns:

device mode

signalDetected

public boolean signalDetected()

Description copied from interface: IrSeekerSensor

Returns true if an IR signal is detected

Specified by:

signalDetected in interface IrSeekerSensor

Returns:

true if signal is detected; otherwise false

getAngle

public double getAngle()

Description copied from interface: IrSeekerSensor

Estimated angle in which the signal is coming from

If the signal is estimated to be directly ahead, 0 will be returned. If the signal is to the left a negative angle will be returned. If the signal is to the right a positive angle will be returned. If no signal is detected, a 0 will be returned.

NOTE: not all sensors give an accurate angle.

Specified by:

getAngle in interface IrSeekerSensor

Returns:

angle to IR signal

getStrength

public double getStrength()

Description copied from interface: IrSeekerSensor

IR Signal strength

Detected IR signal strength, on a scale of 0.0 to 1.0, where 0 is no signal detected and 1 is max IR signal detected.

Specified by:

getStrength in interface IrSeekerSensor

Returns:

signal strength, scaled from 0 to 1

getIndividualSensors

public IrSeekerSensor.IrSeekerIndividualSensor[] getIndividualSensors()

Description copied from interface: IrSeekerSensor

Get a list of all IR sensors attached to this seeker. The list will include the angle at which the sensor is mounted, and the signal strength.

Specified by:

getIndividualSensors in interface IrSeekerSensor

Returns:

array of IrSensors

setI2cAddress

public void setI2cAddress(I2cAddr newAddress)

Description copied from interface: IrSeekerSensor

Set the I2C address to a new value.

Specified by:

setI2cAddress in interface IrSeekerSensor

getI2cAddress

public I2cAddr getI2cAddress()

Description copied from interface: IrSeekerSensor

Get the current I2C Address of this object. Not necessarily the same as the I2C address of the actual device. Return the current I2C address.

Specified by:

getI2cAddress in interface I2cAddressableDevice

Specified by:

getI2cAddress in interface IrSeekerSensor

Returns:

current I2C address

portIsReady

public void portIsReady(int port)

Specified by:

portIsReady in interface I2cController.I2cPortReadyCallback

getManufacturer

public HardwareDevice.Manufacturer getManufacturer()

Description copied from interface: HardwareDevice

Returns an indication of the manufacturer of this device.

Specified by:

getManufacturer in interface HardwareDevice

Returns:

the device's manufacturer

getDeviceName

public java.lang.String getDeviceName()

Description copied from interface: HardwareDevice

Returns a string suitable for display to the user as to the type of device. Note that this is a device-type-specific name; it has nothing to do with the name by which a user might have configured the device in a robot configuration.

Specified by:

getDeviceName in interface HardwareDevice

Returns:

device manufacturer and name

getConnectionInfo

public java.lang.String getConnectionInfo()

Description copied from interface: HardwareDevice

Get connection information about this device in a human readable format

Specified by:

getConnectionInfo in interface HardwareDevice

Returns:

connection info

getVersion

public int getVersion()

Description copied from interface: HardwareDevice

Version

Specified by:

getVersion in interface HardwareDevice

Returns:

get the version of this device

resetDeviceConfigurationForOpMode

public void resetDeviceConfigurationForOpMode()

Description copied from interface: HardwareDevice

Resets the device's configuration to that which is expected at the beginning of an OpMode. For example, motors will reset the their direction to 'forward'.

Specified by:

resetDeviceConfigurationForOpMode in interface HardwareDevice

close

public void close()

Description copied from interface: HardwareDevice

Closes this device

Specified by:

close in interface HardwareDevice