/**
* Sets the pin mode to use on the pin.
*
* @param pin The ping to set.
* @param pinMode The mode to set. 1 is OUTPUT, 0 is INPUT
* @return A status code.
* @throws IOException
*/
public int setPinMode(int pin, int pinMode) throws IOException {
if (Gopigo.getInstance().isHalt()) {
Gopigo.getInstance().onHalt();
}
// if (pin == 10 || pin == 15 || pin == 0 || pin == 1)
return writeI2c(Commands.PIN_MODE, pin, pinMode, Commands.UNUSED);
}
/**
* Executes a digital read on the pin.
*
* @param pin The pin to use for the reading.
* @return The read bytes.
* @throws IOException
*/
public int digitalRead(int pin) throws IOException {
if (Gopigo.getInstance().isHalt()) {
Gopigo.getInstance().onHalt();
}
writeI2c(Commands.DIGITAL_READ, pin, Commands.UNUSED, Commands.UNUSED);
return device.read() & 0xff;
}
/**
* Reads the number of bytes from the I2C device.
*
* @param numberOfBytes The length of the buffer to read.
* @return The buffer.
* @throws IOException
*/
public byte[] readI2c(int numberOfBytes) throws IOException {
if (Gopigo.getInstance().isHalt()) {
Gopigo.getInstance().onHalt();
}
byte[] buffer = new byte[numberOfBytes];
device.read(1, buffer, 0, buffer.length);
return buffer;
}
/**
* Executes a digital write on the pin.
*
* @param pin The ping to use for the writing.
* @param value The value to write.
* @return A status code.
* @throws IOException
*/
public int digitalWrite(int pin, int value) throws IOException {
if (Gopigo.getInstance().isHalt()) {
Gopigo.getInstance().onHalt();
}
// if (pin == 10 || pin == 0 || pin == 1 || pin == 5 || pin == 16 || pin == 17)
if (value == 0 || value == 1) {
return writeI2c(Commands.DIGITAL_WRITE, pin, value, Commands.UNUSED);
} else {
return Statuses.ERROR;
}
}
/**
* Executes an analog write on the pin.
*
* @param pin The ping to use for the writing.
* @param value The value to write.
* @return A status code.
* @throws IOException
*/
public int analogWrite(int pin, int value) throws IOException {
if (Gopigo.getInstance().isHalt()) {
Gopigo.getInstance().onHalt();
}
if (pin == 10) {
writeI2c(Commands.ANALOG_WRITE, pin, value, Commands.UNUSED);
sleep(5);
return Statuses.OK;
} else {
return -2; // TODO: Which kind of status is "-2"?
}
}
/**
* Writes the bytes to the I2C device.
*
* @param bytes The buffer to write.
* @return A status code.
* @throws IOException
*/
public int writeI2c(int... bytes) throws IOException {
if (Gopigo.getInstance().isHalt()) {
Gopigo.getInstance().onHalt();
}
// Convert array: int[] to byte[]
final ByteBuffer byteBuffer = ByteBuffer.allocate(bytes.length);
for (int i = 0, len = bytes.length; i < len; i++) {
byteBuffer.put((byte) bytes[i]);
}
sleep(
100); // TODO: Is correct to have this here or we let the external calls to handle the
// sleep?
device.write(0xfe, byteBuffer.array(), 0, byteBuffer.limit());
return Statuses.OK;
}
/**
* Executes an analog read on the pin.
*
* @param pin The ping to use for the reading.
* @return The read value.
* @throws IOException
*/
public int analogRead(int pin) throws IOException {
if (Gopigo.getInstance().isHalt()) {
Gopigo.getInstance().onHalt();
}
// if (pin == 1) {
writeI2c(Commands.ANALOG_READ, pin, Commands.UNUSED, Commands.UNUSED);
sleep(50);
byte[] b1 = readI2c(1);
byte[] b2 = readI2c(1); // Note: before was 2
int val1 = (int) b1[0] & 0xFF;
int val2 = (int) b2[0] & 0xFF;
return val1 * 256 + val2;
/*} else {
return -2;
}*/
}
/** Initializes the board executing a writing test catching the error. */
public void init() {
try {
device.write(0xfe, (byte) 0x04);
} catch (IOException e) {
StringWriter sw = new StringWriter();
e.printStackTrace(new PrintWriter(sw));
String exceptionDetails = sw.toString();
debug.log(Debug.SEVERE, exceptionDetails);
Gopigo.getInstance().halt();
}
}