lejos.hardware.device

Class PFLink

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.device.PFLink

All Implemented Interfaces:

java.io.Closeable, java.lang.AutoCloseable, SensorConstants, SensorMode, SensorModes, SampleProvider

public class PFLink
extends I2CSensor

Class for controlling PF Motors with MindSensors NRLink-Nx

Author:

Alexander Vegh

Field Summary

Fields

Modifier and Type	Field and Description
static int	COMBO_CH1_A_FORWARD_B_FORWARD
static int	COMBO_CH1_A_FORWARD_B_REVERSE
static int	COMBO_CH1_A_REVERSE_B_FORWARD
static int	COMBO_CH1_A_REVERSE_B_REVERSE
static int	COMBO_CH2_A_FORWARD_B_FORWARD
static int	COMBO_CH2_A_FORWARD_B_REVERSE
static int	COMBO_CH2_A_REVERSE_B_FORWARD
static int	COMBO_CH2_A_REVERSE_B_REVERSE
static int	COMBO_CH3_A_FORWARD_B_FORWARD
static int	COMBO_CH3_A_FORWARD_B_REVERSE
static int	COMBO_CH3_A_REVERSE_B_FORWARD
static int	COMBO_CH3_A_REVERSE_B_REVERSE
static int	COMBO_CH4_A_FORWARD_B_FORWARD
static int	COMBO_CH4_A_FORWARD_B_REVERSE
static int	COMBO_CH4_A_REVERSE_B_FORWARD
static int	COMBO_CH4_A_REVERSE_B_REVERSE
static int	MOTOR_CH1_A_BRAKE
static int	MOTOR_CH1_A_FLOAT
static int	MOTOR_CH1_A_FORWARD
static int	MOTOR_CH1_A_REVERSE
static int	MOTOR_CH1_B_BRAKE
static int	MOTOR_CH1_B_FLOAT
static int	MOTOR_CH1_B_FORWARD
static int	MOTOR_CH1_B_REVERSE
static int	MOTOR_CH2_A_BRAKE
static int	MOTOR_CH2_A_FLOAT
static int	MOTOR_CH2_A_FORWARD
static int	MOTOR_CH2_A_REVERSE
static int	MOTOR_CH2_B_BRAKE
static int	MOTOR_CH2_B_FLOAT
static int	MOTOR_CH2_B_FORWARD
static int	MOTOR_CH2_B_REVERSE
static int	MOTOR_CH3_A_BRAKE
static int	MOTOR_CH3_A_FLOAT
static int	MOTOR_CH3_A_FORWARD
static int	MOTOR_CH3_A_REVERSE
static int	MOTOR_CH3_B_BRAKE
static int	MOTOR_CH3_B_FLOAT
static int	MOTOR_CH3_B_FORWARD
static int	MOTOR_CH3_B_REVERSE
static int	MOTOR_CH4_A_BRAKE
static int	MOTOR_CH4_A_FLOAT
static int	MOTOR_CH4_A_FORWARD
static int	MOTOR_CH4_A_REVERSE
static int	MOTOR_CH4_B_BRAKE
static int	MOTOR_CH4_B_FLOAT
static int	MOTOR_CH4_B_FORWARD
static int	MOTOR_CH4_B_REVERSE
static byte	NR_RANGE_LONG
static byte	NR_RANGE_SHORT

Fields inherited from class lejos.hardware.sensor.I2CSensor

address, DEFAULT_I2C_ADDRESS, port, REG_PRODUCT_ID, REG_VENDOR_ID, REG_VERSION, retryCount

Fields inherited from class lejos.hardware.sensor.BaseSensor

currentMode, modes

Fields inherited from class lejos.hardware.Device

closeList

Fields inherited from interface lejos.hardware.sensor.SensorConstants

BLACK, BLANK_INDEX, BLUE, BLUE_INDEX, BROWN, GREEN, GREEN_INDEX, MAX_TYPE, MIN_TYPE, MODE_RAW, NXT_ADC_RES, RED, RED_INDEX, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, TYPE_HIGHSPEED, TYPE_HIGHSPEED_9V, TYPE_HISPEED, TYPE_LIGHT_ACTIVE, TYPE_LIGHT_INACTIVE, TYPE_LOWSPEED, TYPE_LOWSPEED_9V, TYPE_NO_SENSOR, TYPE_REFLECTION, TYPE_SOUND_DB, TYPE_SOUND_DBA, TYPE_SWITCH, TYPE_TEMPERATURE, WHITE, YELLOW

Constructor Summary

Constructors

Constructor and Description
PFLink(I2CPort _Port)
PFLink(I2CPort _Port, int address)
PFLink(Port _Port)
PFLink(Port _Port, int address)

Method Summary

Modifier and Type	Method and Description
void	initialize(byte _Range) Should be called once to set up the NRLink for usage in the program
void	installDefaultMacros() Installs the macro definitions used by this class.
void	installMacro(int _Address, byte[] _Macro) Installs a macro into the NRLink You really should call this only once for a new NRLink since it stores them in EEPROM even if turned of.
void	runCommand(int command) Executes a command
void	runMacro(int _Address) Runs a macro which has been previously installed on the NRLink.

Methods inherited from class lejos.hardware.sensor.I2CSensor

fetchString, getAddress, getData, getData, getPort, getProductID, getRetryCount, getVendorID, getVersion, sendData, sendData, sendData, setAddress, setRetryCount

Methods inherited from class lejos.hardware.sensor.BaseSensor

fetchSample, getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, getName, sampleSize, setCurrentMode, setCurrentMode, setModes

Methods inherited from class lejos.hardware.Device

close, releaseOnClose

Methods inherited from class java.lang.Object

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

Field Detail

NR_RANGE_SHORT

public static final byte NR_RANGE_SHORT

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Constant Field Values

NR_RANGE_LONG

public static final byte NR_RANGE_LONG

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Constant Field Values

MOTOR_CH1_A_FLOAT

public static final int MOTOR_CH1_A_FLOAT

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MOTOR_CH1_A_FORWARD

public static final int MOTOR_CH1_A_FORWARD

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MOTOR_CH1_A_REVERSE

public static final int MOTOR_CH1_A_REVERSE

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MOTOR_CH1_A_BRAKE

public static final int MOTOR_CH1_A_BRAKE

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MOTOR_CH1_B_FLOAT

public static final int MOTOR_CH1_B_FLOAT

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MOTOR_CH1_B_FORWARD

public static final int MOTOR_CH1_B_FORWARD

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MOTOR_CH1_B_REVERSE

public static final int MOTOR_CH1_B_REVERSE

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MOTOR_CH1_B_BRAKE

public static final int MOTOR_CH1_B_BRAKE

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MOTOR_CH2_A_FLOAT

public static final int MOTOR_CH2_A_FLOAT

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MOTOR_CH2_A_FORWARD

public static final int MOTOR_CH2_A_FORWARD

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MOTOR_CH2_A_REVERSE

public static final int MOTOR_CH2_A_REVERSE

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MOTOR_CH2_A_BRAKE

public static final int MOTOR_CH2_A_BRAKE

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MOTOR_CH2_B_FLOAT

public static final int MOTOR_CH2_B_FLOAT

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MOTOR_CH2_B_FORWARD

public static final int MOTOR_CH2_B_FORWARD

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MOTOR_CH2_B_REVERSE

public static final int MOTOR_CH2_B_REVERSE

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MOTOR_CH2_B_BRAKE

public static final int MOTOR_CH2_B_BRAKE

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MOTOR_CH3_A_FLOAT

public static final int MOTOR_CH3_A_FLOAT

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MOTOR_CH3_A_FORWARD

public static final int MOTOR_CH3_A_FORWARD

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MOTOR_CH3_A_REVERSE

public static final int MOTOR_CH3_A_REVERSE

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MOTOR_CH3_A_BRAKE

public static final int MOTOR_CH3_A_BRAKE

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MOTOR_CH3_B_FLOAT

public static final int MOTOR_CH3_B_FLOAT

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MOTOR_CH3_B_FORWARD

public static final int MOTOR_CH3_B_FORWARD

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MOTOR_CH3_B_REVERSE

public static final int MOTOR_CH3_B_REVERSE

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MOTOR_CH3_B_BRAKE

public static final int MOTOR_CH3_B_BRAKE

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MOTOR_CH4_A_FLOAT

public static final int MOTOR_CH4_A_FLOAT

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MOTOR_CH4_A_FORWARD

public static final int MOTOR_CH4_A_FORWARD

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MOTOR_CH4_A_REVERSE

public static final int MOTOR_CH4_A_REVERSE

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MOTOR_CH4_A_BRAKE

public static final int MOTOR_CH4_A_BRAKE

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MOTOR_CH4_B_FLOAT

public static final int MOTOR_CH4_B_FLOAT

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MOTOR_CH4_B_FORWARD

public static final int MOTOR_CH4_B_FORWARD

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MOTOR_CH4_B_REVERSE

public static final int MOTOR_CH4_B_REVERSE

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MOTOR_CH4_B_BRAKE

public static final int MOTOR_CH4_B_BRAKE

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COMBO_CH1_A_FORWARD_B_FORWARD

public static final int COMBO_CH1_A_FORWARD_B_FORWARD

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COMBO_CH1_A_FORWARD_B_REVERSE

public static final int COMBO_CH1_A_FORWARD_B_REVERSE

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COMBO_CH1_A_REVERSE_B_FORWARD

public static final int COMBO_CH1_A_REVERSE_B_FORWARD

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COMBO_CH1_A_REVERSE_B_REVERSE

public static final int COMBO_CH1_A_REVERSE_B_REVERSE

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COMBO_CH2_A_FORWARD_B_FORWARD

public static final int COMBO_CH2_A_FORWARD_B_FORWARD

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COMBO_CH2_A_FORWARD_B_REVERSE

public static final int COMBO_CH2_A_FORWARD_B_REVERSE

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COMBO_CH2_A_REVERSE_B_FORWARD

public static final int COMBO_CH2_A_REVERSE_B_FORWARD

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COMBO_CH2_A_REVERSE_B_REVERSE

public static final int COMBO_CH2_A_REVERSE_B_REVERSE

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COMBO_CH3_A_FORWARD_B_FORWARD

public static final int COMBO_CH3_A_FORWARD_B_FORWARD

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COMBO_CH3_A_FORWARD_B_REVERSE

public static final int COMBO_CH3_A_FORWARD_B_REVERSE

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COMBO_CH3_A_REVERSE_B_FORWARD

public static final int COMBO_CH3_A_REVERSE_B_FORWARD

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COMBO_CH3_A_REVERSE_B_REVERSE

public static final int COMBO_CH3_A_REVERSE_B_REVERSE

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COMBO_CH4_A_FORWARD_B_FORWARD

public static final int COMBO_CH4_A_FORWARD_B_FORWARD

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COMBO_CH4_A_FORWARD_B_REVERSE

public static final int COMBO_CH4_A_FORWARD_B_REVERSE

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COMBO_CH4_A_REVERSE_B_FORWARD

public static final int COMBO_CH4_A_REVERSE_B_FORWARD

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COMBO_CH4_A_REVERSE_B_REVERSE

public static final int COMBO_CH4_A_REVERSE_B_REVERSE

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Constructor Detail

PFLink

public PFLink(I2CPort _Port,
              int address)

PFLink

public PFLink(I2CPort _Port)

PFLink

public PFLink(Port _Port,
              int address)

PFLink

public PFLink(Port _Port)

Method Detail

initialize

public void initialize(byte _Range)

Should be called once to set up the NRLink for usage in the program

Parameters:

_Range - Either NR_RANGE_SHORT or NR_RANGE_LONG, which uses more power

runCommand

public void runCommand(int command)

Executes a command

Parameters:

command -

installMacro

public void installMacro(int _Address,
                         byte[] _Macro)

Installs a macro into the NRLink You really should call this only once for a new NRLink since it stores them in EEPROM even if turned of. And I have no idea how often you can overwrite them before they burn out...

Parameters:

_Address - The address up from 0x40 for the macro

_Macro - The macro

installDefaultMacros

public void installDefaultMacros()

Installs the macro definitions used by this class. You really should call this only once for a new NRLink since it stores them in EEPROM even if turned of. And I have no idea how often you can overwrite them before they burn out...

runMacro

public void runMacro(int _Address)

Runs a macro which has been previously installed on the NRLink.

Parameters:

_Address - The address of the macro, one of the MOTOR_* for a single motor or one of the COMBO_* macros which work on both motors simultaneously