lejos.hardware.sensor

Class DexterGPSSensor

java.lang.Object

lejos.hardware.Device

lejos.hardware.sensor.BaseSensor

lejos.hardware.sensor.I2CSensor

lejos.hardware.sensor.DexterGPSSensor

All Implemented Interfaces:

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

public class DexterGPSSensor
extends I2CSensor

Dexter dGPS sensor
Sends GPS coordinates to your robot and calculates navigation information

The code for this sensor has not been tested. Please report test results to the leJOS forum.

Supported modes
Mode name	Description	unit(s)	Getter
Position	Gets the coordinates of the sensor	latitude and longitude	getPositionMode()
Angle	Gets the heading of the sensor	degrees	getAngleMode()
Velocity	Gets the velocity (speed) of the sensor	metres/second	getVelocityMode()
Time	gets the time	UTC (hhmmss)	getTimeMode()

Sensor configuration
There are no configurable parameters.
The status of the sensor can be checked using the linkStatus() method.

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

Author:

Mark Crosbie

Field Summary

Fields

Modifier and Type	Field and Description
static byte	DGPS_CMD_ANGD
static byte	DGPS_CMD_ANGR
static byte	DGPS_CMD_DIST
static byte	DGPS_CMD_HEAD
static byte	DGPS_CMD_LAT
static byte	DGPS_CMD_LONG
static byte	DGPS_CMD_SLAT
static byte	DGPS_CMD_SLONG
static byte	DGPS_CMD_STATUS
static byte	DGPS_CMD_UTC
static byte	DGPS_CMD_VELO
static byte	DGPS_I2C_ADDR

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
DexterGPSSensor(I2CPort i2cPort) Constructor
DexterGPSSensor(Port sensorPort) Constructor

Method Summary

Modifier and Type	Method and Description
SampleProvider	getAngleMode() Dexter dGPS sensor, Angle mode Gets the heading of the sensor
SampleProvider	getPositionMode() Dexter dGPS sensor, Position mode Gets the coordinates of the sensor
SampleProvider	getTimeMode() Dexter dGPS sensor, Time mode gets the UTC time from the sensor
SampleProvider	getVelocityMode() Dexter dGPS sensor, Velocity mode Gets the velocity (speed) of the sensor
protected void	init()
boolean	linkStatus() Return status of link to the GPS satellites LED on dGPS should light if satellite lock acquired

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

DGPS_I2C_ADDR

public static final byte DGPS_I2C_ADDR

See Also:

Constant Field Values

DGPS_CMD_UTC

public static final byte DGPS_CMD_UTC

See Also:

Constant Field Values

DGPS_CMD_STATUS

public static final byte DGPS_CMD_STATUS

See Also:

Constant Field Values

DGPS_CMD_LAT

public static final byte DGPS_CMD_LAT

See Also:

Constant Field Values

DGPS_CMD_LONG

public static final byte DGPS_CMD_LONG

See Also:

Constant Field Values

DGPS_CMD_VELO

public static final byte DGPS_CMD_VELO

See Also:

Constant Field Values

DGPS_CMD_HEAD

public static final byte DGPS_CMD_HEAD

See Also:

Constant Field Values

DGPS_CMD_DIST

public static final byte DGPS_CMD_DIST

See Also:

Constant Field Values

DGPS_CMD_ANGD

public static final byte DGPS_CMD_ANGD

See Also:

Constant Field Values

DGPS_CMD_ANGR

public static final byte DGPS_CMD_ANGR

See Also:

Constant Field Values

DGPS_CMD_SLAT

public static final byte DGPS_CMD_SLAT

See Also:

Constant Field Values

DGPS_CMD_SLONG

public static final byte DGPS_CMD_SLONG

See Also:

Constant Field Values

Constructor Detail

DexterGPSSensor

public DexterGPSSensor(I2CPort i2cPort)

Constructor

Parameters:

i2cPort - the i2c port the sensor is connected to

DexterGPSSensor

public DexterGPSSensor(Port sensorPort)

Constructor

Parameters:

sensorPort - the sensor port the sensor is connected to

Method Detail

init

protected void init()

linkStatus

public boolean linkStatus()

Return status of link to the GPS satellites LED on dGPS should light if satellite lock acquired

Returns:

true if GPS link is up, else false

getPositionMode

public SampleProvider getPositionMode()

Dexter dGPS sensor, Position mode
Gets the coordinates of the sensor

Size and content of the sample
The sample contains 2 elements. The first element is latitude, the second longitude.
The sensor uses an integer-based representation of latitude and longitude values. Assume that you want to convert the value of 77 degrees, 2 minutes and 54.79 seconds to the integer-based representation. The integer value is computed as follows: R = 1000000 * (D + M / 60 + S / 3600) where D=77, M=2, and S=54.79. For the given values, the formula yields the integer value 77048553. Basically, this is equivalent to decimal degrees times a million.

Returns:

A sampleProvider See leJOS conventions for SampleProviders See Sensor datasheet

getAngleMode

public SampleProvider getAngleMode()

Dexter dGPS sensor, Angle mode
Gets the heading of the sensor

Size and content of the sample
The sample contains one element representing the heading (in degrees) of the sensor. Accurate heading information can only be given when the sensor is in motion.

Returns:

A sampleProvider See leJOS conventions for SampleProviders See Sensor datasheet

getVelocityMode

public SampleProvider getVelocityMode()

Dexter dGPS sensor, Velocity mode
Gets the velocity (speed) of the sensor

Size and content of the sample
The sample contains one elements giving the speed of the sensor (in metres/second).

Returns:

A sampleProvider See leJOS conventions for SampleProviders See Sensor datasheet

getTimeMode

public SampleProvider getTimeMode()

Dexter dGPS sensor, Time mode
gets the UTC time from the sensor

Size and content of the sample
The sample contains one elements representing the UTC time (hhmmss) .

Returns:

A sampleProvider See leJOS conventions for SampleProviders See Sensor datasheet