/**
   * 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());
   }
 }
示例#3
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 /**
  * Stops a sound file that has been playing/repeating.
  *
  * @return Error code.
  */
 public static int stopSoundPlayback() {
   try {
     return nxtCommand.stopSoundPlayback();
   } catch (IOException ioe) {
     System.out.println(ioe.getMessage());
     return -1;
   }
 }
示例#4
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 /**
  * Plays a sound file from the NXT. SoundSensor files use the .rso extension. The filename is not
  * case sensitive. Filenames on the NXT Bricks display do now show the filename extension.
  *
  * @param fileName e.g. "Woops.rso"
  * @param repeat true = repeat, false = play once.
  * @return If you receive a non-zero number, the filename is probably wrong or the file is not
  *     uploaded to the NXT brick.
  */
 public static byte playSoundFile(String fileName, boolean repeat) {
   try {
     return nxtCommand.playSoundFile(fileName, repeat);
   } catch (IOException ioe) {
     System.out.println(ioe.getMessage());
     return -1;
   }
 }
示例#5
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 public static int playTone(int frequency, int duration) {
   try {
     return nxtCommand.playTone(frequency, duration);
   } catch (IOException ioe) {
     System.out.println(ioe.getMessage());
     return -1;
   }
 }
示例#6
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 /**
  * 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;
   }
 }