/**
* 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());
}
}
/**
* Sets a single byte in the I2C sensor.
*
* @param register A data register in the I2C sensor. e.g. ACTUAL_ZERO
* @param value The data value.
*/
public int sendData(int register, byte value) {
byte[] txData = {address, (byte) register, value};
try {
int ret = nxtCommand.LSWrite(this.port, txData, (byte) 0);
return ret;
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
return -1;
}
}
/**
* Send data top the sensor
*
* @param register A data register in the I2C sensor.
* @param data The byte to send.
* @param length the number of bytes
*/
public int sendData(int register, byte[] data, int length) {
byte[] txData = {address, (byte) register};
byte[] sendData = new byte[length + 2];
System.arraycopy(txData, 0, sendData, 0, 2);
System.arraycopy(data, 0, sendData, 2, length);
try {
return nxtCommand.LSWrite(this.port, sendData, (byte) 0);
} catch (IOException ioe) {
System.out.println(ioe.getMessage());
return -1;
}
}