ev3dev.sensors

Class BaseSensor

java.lang.Object

ev3dev.hardware.EV3DevDevice

ev3dev.hardware.EV3DevSensorDevice

ev3dev.sensors.BaseSensor

Direct Known Subclasses:

AbsoluteIMU, EV3ColorSensor, EV3GyroSensor, EV3IRSensor, EV3TouchSensor, EV3UltrasonicSensor, NXTCamV5

public class BaseSensor
extends EV3DevSensorDevice

Field Summary

Fields

Modifier and Type	Field and Description
protected int	currentMode
private java.util.ArrayList<java.lang.String>	modeList
protected SensorMode[]	modes
static int	SWITCH_DELAY

Fields inherited from class ev3dev.hardware.EV3DevSensorDevice

LEGO_ANALOG_SENSOR, LEGO_I2C, LEGO_UART_SENSOR, SENSOR_MODE, SENSOR_MODES

Fields inherited from class ev3dev.hardware.EV3DevDevice

ADDRESS, CURRENT_PLATFORM, DEVICE, ev3DevProperties, LEGO_PORT, LEGO_SENSOR, MODE, PATH_DEVICE

Constructor Summary

Constructors

Constructor and Description
BaseSensor(Port sensorPort, java.lang.String mode)
BaseSensor(Port sensorPort, java.lang.String mode, java.lang.String device)

Method Summary

Modifier and Type	Method and Description
void	fetchSample(float[] sample, int offset) Set the current SensorMode index.
java.util.ArrayList<java.lang.String>	getAvailableModes()
int	getCurrentMode()
private int	getIndex(java.lang.String modeName)
SensorMode	getMode(int mode) Get a SensorMode associated with a mode index.
SensorMode	getMode(java.lang.String modeName) Get a SensorMode associated with a mode name.
int	getModeCount()
java.lang.String	getName()
protected java.lang.String	getSystemMode() Read current sensor mode from the kernel.
private boolean	modeInvalid(int mode)
int	sampleSize()
void	setCurrentMode(int mode) Set the current SensorMode index.
void	setCurrentMode(java.lang.String modeName) Set the current SensorMode name.
protected void	setModes(SensorMode[] m) Define the set of modes to be made available for this sensors.
private void	setSystemMode(java.lang.String mode) Write requested sensor mode to the kernel.
void	switchMode(java.lang.String newMode, long switchDelay) Switch the sensor to the specified mode, if necessary.

Methods inherited from class ev3dev.hardware.EV3DevDevice

detect, getIntegerAttribute, getStringAttribute, setIntegerAttribute, setStringAttribute

Methods inherited from class java.lang.Object

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

Field Detail

SWITCH_DELAY

public static final int SWITCH_DELAY

See Also:

Constant Field Values

modeList

private java.util.ArrayList<java.lang.String> modeList

currentMode

protected int currentMode

modes

protected SensorMode[] modes

Constructor Detail

BaseSensor

public BaseSensor(Port sensorPort,
                  java.lang.String mode,
                  java.lang.String device)

BaseSensor

public BaseSensor(Port sensorPort,
                  java.lang.String mode)

Method Detail

setModes

protected void setModes(SensorMode[] m)

Define the set of modes to be made available for this sensors.

Parameters:

m - An array containing a list of modes

getAvailableModes

public java.util.ArrayList<java.lang.String> getAvailableModes()

getMode

public SensorMode getMode(int mode)

Get a SensorMode associated with a mode index.

WARNING: This function does not switch the sensor to the correct mode. Unless the sensor is switched to the correct mode, the reads from this SensorMode will be invalid. See GenericMode.fetchSample(float[], int)

getMode

public SensorMode getMode(java.lang.String modeName)

Get a SensorMode associated with a mode name.

WARNING: This function does not switch the sensor to the correct mode. Unless the sensor is switched to the correct mode, the reads from this SensorMode will be invalid. See GenericMode.fetchSample(float[], int)

modeInvalid

private boolean modeInvalid(int mode)

getIndex

private int getIndex(java.lang.String modeName)

getName

public java.lang.String getName()

sampleSize

public int sampleSize()

fetchSample

public void fetchSample(float[] sample,
                        int offset)

Set the current SensorMode index.

WARNING: this function works properly only when the sensor is already in the appropriate mode. This means that the returned reading will be valid only when you previously activated the "current mode" via a call to get*Mode() or switchMode(). See GenericMode.fetchSample(float[], int)

Parameters:

sample - The array to store the sample in.

offset - The elements of the sample are stored in the array starting at the offset position.

setCurrentMode

public void setCurrentMode(int mode)

Set the current SensorMode index.

WARNING: This function does not switch the sensor to the correct mode. Unless the sensor is switched to the correct mode, the reads from the"current" SensorMode will be invalid. See GenericMode.fetchSample(float[], int)

getCurrentMode

public int getCurrentMode()

setCurrentMode

public void setCurrentMode(java.lang.String modeName)

Set the current SensorMode name.

WARNING: This function does not switch the sensor to the correct mode. Unless the sensor is switched to the correct mode, the reads from the"current" SensorMode will be invalid. See GenericMode.fetchSample(float[], int)

getModeCount

public int getModeCount()

getSystemMode

protected java.lang.String getSystemMode()

Read current sensor mode from the kernel.

Returns:

Sensor mode identifier.

setSystemMode

private void setSystemMode(java.lang.String mode)

Write requested sensor mode to the kernel.

Parameters:

mode - Sensor mode identifier.

switchMode

public void switchMode(java.lang.String newMode,
                       long switchDelay)

Switch the sensor to the specified mode, if necessary.

Note: the mode switch will make future reads from SensorModes for other modes invalid. On the other hand, it will make reads valid for the SensorMode associated with the mode the sensor is switching to. See GenericMode.fetchSample(float[], int)

Parameters:

newMode - Identifier of the sensor mode (not its name).

switchDelay - Delay until the sensor starts sending new data.