lejos.nxt.addon
Class NXTLineLeader

java.lang.Object
  lejos.nxt.I2CSensor
      lejos.nxt.addon.NXTLineLeader

All Implemented Interfaces:

SensorConstants

public class NXTLineLeader
extends I2CSensor

This class manages the sensor NXT Line Leader from Mindsensors. The sensor add a sensor row to detect black/white lines. This sensor is perfect to build a robot which has the mission to follow a line.

Author:

Juan Antonio Brenha Moral

Field Summary

Fields inherited from class lejos.nxt.I2CSensor

PRODUCT_ID, SENSOR_TYPE, VERSION

Fields inherited from interface lejos.nxt.SensorConstants

MODE_ANGLESTEP, MODE_BOOLEAN, MODE_CELSIUS, MODE_FARENHEIT, MODE_PCTFULLSCALE, MODE_PERIODCOUNTER, MODE_RAW, MODE_TRANSITIONCNT, TYPE_ANGLE, TYPE_COLORBLUE, TYPE_COLORFULL, TYPE_COLORGREEN, TYPE_COLORNONE, TYPE_COLORRED, TYPE_CUSTOM, 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

Constructor Summary

NXTLineLeader(I2CPort port)
Constructor

Method Summary

int	getAverage() Get the average value
int	getKD() Get KD value
int	getKI() Get KI value
int	getKP() Get KP value
int	getResult() Get result value
int	getSensorStatus(int index) Get status from each sensor in the raw
int	getSteering() Get the steering value
void	sendCommand(char cmd) Send a single byte command represented by a letter
void	setKD(int KD) Set KD value
void	setKI(int KI) Set KI value
void	setKP(int KP) Set KP value
void	sleep() Sleep the sensor
void	wakeUp() Wake up the sensor

Methods inherited from class lejos.nxt.I2CSensor

fetchString, getData, getPort, getProductID, getSensorType, getVersion, sendData, sendData, setAddress

Methods inherited from class java.lang.Object

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

Constructor Detail

NXTLineLeader

public NXTLineLeader(I2CPort port)

Constructor

Parameters:

port -

Method Detail

sendCommand

public void sendCommand(char cmd)

Send a single byte command represented by a letter

Parameters:

cmd - the letter that identifies the command

sleep

public void sleep()

Sleep the sensor

wakeUp

public void wakeUp()

Wake up the sensor

getSteering

public int getSteering()

Get the steering value

getAverage

public int getAverage()

Get the average value

getResult

public int getResult()

Get result value

getKP

public int getKP()

Get KP value

setKP

public void setKP(int KP)

Set KP value

getKI

public int getKI()

Get KI value

setKI

public void setKI(int KI)

Set KI value

getKD

public int getKD()

Get KD value

setKD

public void setKD(int KD)

Set KD value

getSensorStatus

public int getSensorStatus(int index)

Get status from each sensor in the raw