com.qualcomm.hardware.modernrobotics

Class ModernRoboticsI2cCompassSensor

java.lang.Object

com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice<I2cDeviceSynch>

com.qualcomm.hardware.modernrobotics.ModernRoboticsI2cCompassSensor

All Implemented Interfaces:

CompassSensor, HardwareDevice, I2cAddrConfig, I2cAddressableDevice, RobotArmingStateNotifier.Callback

@I2cDeviceType
 @DeviceProperties(name="@string/mr_compass_name",
                  description="@string/mr_compass_description",
                  xmlTag="ModernRoboticsI2cCompassSensor",
                  builtIn=true)
public class ModernRoboticsI2cCompassSensor
extends I2cDeviceSynchDevice<I2cDeviceSynch>
implements CompassSensor, I2cAddrConfig

ModernRoboticsI2cCompassSensor implements support for the Modern Robotics compass sensor. "During normal operation the LED will blink briefly at 1Hz. During Hard Iron Calibration the LED will blink at 1/2Hz. During tilt up and tilt down calibration the LED will be on during a period of calibration measurement."

See Also:

MR Compass Sensor, LSM 303 datasheet

Nested Class Summary

Nested Classes

Modifier and Type	Class and Description
static class	ModernRoboticsI2cCompassSensor.Command
static class	ModernRoboticsI2cCompassSensor.Register

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

CompassSensor.CompassMode

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

HardwareDevice.Manufacturer

Field Summary

Fields

Modifier and Type	Field and Description
static I2cAddr	ADDRESS_I2C_DEFAULT

Fields inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

deviceClient, deviceClientIsOwned, isInitialized

Constructor Summary

Constructors

Constructor and Description
ModernRoboticsI2cCompassSensor(I2cDeviceSynch deviceClient)

Method Summary

Modifier and Type	Method and Description
boolean	calibrationFailed() Check to see whether calibration was successful.
protected boolean	doInitialize() Actually carries out the initialization of the instance.
Acceleration	getAcceleration()
java.lang.String	getDeviceName() Returns a string suitable for display to the user as to the type of device.
double	getDirection() Get the current direction, in degrees, in the range [0, 360).
I2cAddr	getI2cAddress() Returns the I2C address currently in use to communicate with an I2C hardware device
MagneticFlux	getMagneticFlux()
HardwareDevice.Manufacturer	getManufacturer() Returns an indication of the manufacturer of this device.
boolean	isCalibrating()
byte	read8(ModernRoboticsI2cCompassSensor.Register reg)
ModernRoboticsI2cCompassSensor.Command	readCommand()
int	readShort(ModernRoboticsI2cCompassSensor.Register reg)
void	setI2cAddress(I2cAddr newAddress) Configures a new I2C address to use
void	setMode(CompassSensor.CompassMode mode) Change to calibration or measurement mode
protected void	setOptimalReadWindow()
java.lang.String	status() Status of this sensor, in string form
void	write8(ModernRoboticsI2cCompassSensor.Register reg, byte value)
void	writeCommand(ModernRoboticsI2cCompassSensor.Command command)
void	writeShort(ModernRoboticsI2cCompassSensor.Register reg, short value)

Methods inherited from class com.qualcomm.robotcore.hardware.I2cDeviceSynchDevice

close, disengage, engage, getConnectionInfo, getDeviceClient, getVersion, initialize, initializeIfNecessary, onModuleStateChange, registerArmingStateCallback, resetDeviceConfigurationForOpMode

Methods inherited from class java.lang.Object

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

Methods inherited from interface com.qualcomm.robotcore.hardware.HardwareDevice

close, getConnectionInfo, getVersion, resetDeviceConfigurationForOpMode

Field Detail

ADDRESS_I2C_DEFAULT

public static final I2cAddr ADDRESS_I2C_DEFAULT

Constructor Detail

ModernRoboticsI2cCompassSensor

public ModernRoboticsI2cCompassSensor(I2cDeviceSynch deviceClient)

Method Detail

setOptimalReadWindow

protected void setOptimalReadWindow()

doInitialize

protected boolean doInitialize()

Description copied from class: I2cDeviceSynchDevice

Actually carries out the initialization of the instance.

Specified by:

doInitialize in class I2cDeviceSynchDevice<I2cDeviceSynch>

Returns:

Whether the initialization was successful or not

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

read8

public byte read8(ModernRoboticsI2cCompassSensor.Register reg)

write8

public void write8(ModernRoboticsI2cCompassSensor.Register reg,
                   byte value)

readShort

public int readShort(ModernRoboticsI2cCompassSensor.Register reg)

writeShort

public void writeShort(ModernRoboticsI2cCompassSensor.Register reg,
                       short value)

writeCommand

public void writeCommand(ModernRoboticsI2cCompassSensor.Command command)

readCommand

public ModernRoboticsI2cCompassSensor.Command readCommand()

getAcceleration

public Acceleration getAcceleration()

getMagneticFlux

public MagneticFlux getMagneticFlux()

getDirection

public double getDirection()

Description copied from interface: CompassSensor

Get the current direction, in degrees, in the range [0, 360). North is zero, East is 90, South is 180, and West is 270.

Specified by:

getDirection in interface CompassSensor

Returns:

current direction, in degrees

status

public java.lang.String status()

Description copied from interface: CompassSensor

Status of this sensor, in string form

Specified by:

status in interface CompassSensor

Returns:

status

isCalibrating

public boolean isCalibrating()

calibrationFailed

public boolean calibrationFailed()

Description copied from interface: CompassSensor

Check to see whether calibration was successful. After attempting a calibration, the hardware will (eventually) indicate whether or not it was unsuccessful. The default is "success", even when the calibration is not guaranteed to have completed successfully. A user should monitor this field for (at least) several seconds to determine success.

Specified by:

calibrationFailed in interface CompassSensor

Returns:

failure

setMode

public void setMode(CompassSensor.CompassMode mode)

Description copied from interface: CompassSensor

Change to calibration or measurement mode

Specified by:

setMode in interface CompassSensor

setI2cAddress

public void setI2cAddress(I2cAddr newAddress)

Description copied from interface: I2cAddrConfig

Configures a new I2C address to use

Specified by:

setI2cAddress in interface I2cAddrConfig

Parameters:

newAddress - the new I2C address to use

getI2cAddress

public I2cAddr getI2cAddress()

Description copied from interface: I2cAddressableDevice

Returns the I2C address currently in use to communicate with an I2C hardware device

Specified by:

getI2cAddress in interface I2cAddressableDevice

Returns:

the I2C address currently in use