lejos.hardware.sensor

Class DexterCompassSensor

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.sensor.DexterCompassSensor

All Implemented Interfaces:

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

public class DexterCompassSensor
extends I2CSensor
implements SensorModes

Dexter Industries dCompass sensor
A three axis magnetometer

Supported modes
Mode name	Description	unit(s)	Getter
Magnetic	Measures the strength of the magnetic field over three axes		getMagneticMode()

Sensor configuration
Range can be set Using getRanges() and setRange methods. Internal update frequency of the sensor can be set using getRates and setRate methods.

See Sensor datasheet See Sensor Product page See The leJOS sensor framework See leJOS conventions for SampleProviders

Author:

Aswin Bouwmeester

Field Summary

Fields

Modifier and Type	Field and Description
protected static int	REG_CONFIG
protected static int	REG_MAGNETO
protected static int	REG_STATUS

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
DexterCompassSensor(I2CPort port) Constructor for the driver.
DexterCompassSensor(Port port)

Method Summary

Modifier and Type	Method and Description
SampleProvider	getMagneticMode() Dexter Industries dCompass sensor, magnetic mode Measures the strength of the magnetic field over three axes
float	getMaximumRange()
protected int	getMeasurementMode()
protected int	getOperatingMode()
float[]	getRanges()
float	getSampleRate()
float[]	getSampleRates()
protected void	init()
protected boolean	newDataAvailable() Reads the new data ready bit of the status register of the sensor.
protected void	setMeasurementMode(int measurementMode)
protected void	setOperatingMode(int operatingMode) Sets the operating mode of the sensor
void	setRange(float range)
void	setRange(int range) Sets the dynamic range of the sensor (1.3 Gauss is default).
void	setSampleRate(float rate)
void	start()
void	stop()
boolean[]	test() Self-test routine of the sensor.

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

Methods inherited from interface lejos.hardware.sensor.SensorModes

getAvailableModes, getCurrentMode, getMode, getMode, getModeCount, setCurrentMode, setCurrentMode

Methods inherited from interface lejos.hardware.sensor.SensorMode

getName

Methods inherited from interface lejos.robotics.SampleProvider

fetchSample, sampleSize

Field Detail

REG_CONFIG

protected static final int REG_CONFIG

See Also:

Constant Field Values

REG_MAGNETO

protected static final int REG_MAGNETO

See Also:

Constant Field Values

REG_STATUS

protected static final int REG_STATUS

See Also:

Constant Field Values

Constructor Detail

DexterCompassSensor

public DexterCompassSensor(I2CPort port)

Constructor for the driver.

Parameters:

port -

DexterCompassSensor

public DexterCompassSensor(Port port)

Method Detail

getMagneticMode

public SampleProvider getMagneticMode()

Dexter Industries dCompass sensor, magnetic mode
Measures the strength of the magnetic field over three axes

Size and content of the sample
The sample contains 3 elements. Each element gives the strength of the magnetic field (in Gueass). Axis order is X, Y, Z.

Configuration
By default the sensor is configured for a range of 5.6 Gauss and an update frequency of 30 Hertz.
The sensor can be tested using the test method.

Returns:

A sampleProvider See leJOS conventions for SampleProviders See Sensor datasheet

init

protected void init()

getMeasurementMode

protected int getMeasurementMode()

Returns:

Returns the measurement mode of the sensor (normal, positive bias or negative bias).

positive and negative bias mode should only be used for testing the sensor.

getOperatingMode

protected int getOperatingMode()

Returns:

The operating mode of the sensor (single measurement, continuous or Idle)

getMaximumRange

public float getMaximumRange()

Returns:

The dynamic range of the sensor.

newDataAvailable

protected boolean newDataAvailable()

Reads the new data ready bit of the status register of the sensor.

Returns:

True if new data available

setMeasurementMode

protected void setMeasurementMode(int measurementMode)

Parameters:

measurementMode - Sets the measurement mode of the sensor.

setOperatingMode

protected void setOperatingMode(int operatingMode)

Sets the operating mode of the sensor

Parameters:

operatingMode - Continuous is normal mode of operation

SingleMeasurement can be used to conserve energy or to increase maximum measurement rate

Idle is to stop the sensor and conserve energy

setRange

public void setRange(int range)

Sets the dynamic range of the sensor (1.3 Gauss is default).

Parameters:

range -

test

public boolean[] test()

Self-test routine of the sensor.

Returns:

An array of boolean values. A true indicates the sensor axis is working properly.

setSampleRate

public void setSampleRate(float rate)

getSampleRates

public float[] getSampleRates()

start

public void start()

stop

public void stop()

getSampleRate

public float getSampleRate()

setRange

public void setRange(float range)

getRanges

public float[] getRanges()