/**
* Method for retrieving data values from the sensor. BYTE0 ( is usually the primary data value
* for the sensor. Data is read from registers in the sensor, usually starting at 0x00 and ending
* around 0x49. Just supply the register to start reading at, and the length of bytes to read (16
* maximum). NOTE: The NXT supplies UBYTE (unsigned byte) values but Java converts them into
* signed bytes (probably more practical to return short/int?)
*
* @param register e.g. FACTORY_SCALE_DIVISOR, BYTE0, etc....
* @param length Length of data to read (minimum 1, maximum 16)
* @return the status
*/
public int getData(int register, byte[] buf, int length) {
byte[] txData = {address, (byte) register};
try {
nxtCommand.LSWrite(port, txData, (byte) length);
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
}
byte[] status = null;
do {
try {
status = nxtCommand.LSGetStatus(port);
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
return -1;
}
} while (status[0] == ErrorMessages.PENDING_COMMUNICATION_TRANSACTION_IN_PROGRESS
| status[0] == ErrorMessages.SPECIFIED_CHANNEL_CONNECTION_NOT_CONFIGURED_OR_BUSY);
try {
byte[] ret = nxtCommand.LSRead(port);
if (ret != null) System.arraycopy(ret, 0, buf, 0, ret.length);
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
return -1;
}
return status[0];
}
/** @param s A sensor. e.g. Port.S1 */
public I2CSensor(I2CPort s, byte sensorType) {
port = (byte) s.getId();
s.setTypeAndMode(sensorType, NXTProtocol.RAWMODE);
// Flushes out any existing data
try {
nxtCommand.LSGetStatus(this.port);
nxtCommand.LSRead(this.port);
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
}
}
