ev3dev.sensors.ev3

Class EV3IRSensor

java.lang.Object

ev3dev.hardware.EV3DevDevice

ev3dev.hardware.EV3DevSensorDevice

ev3dev.sensors.BaseSensor

ev3dev.sensors.ev3.EV3IRSensor

public class EV3IRSensor
extends BaseSensor

EV3 Infra Red sensors
The digital EV3 Infrared Seeking Sensor detects proximity to the robot and reads signals emitted by the EV3 Infrared Beacon. The sensors can alse be used as a receiver for a Lego Ev3 IR remote control. EV3 Infra Red sensors
The sensors can be used as a receiver for up to four Lego Ev3 IR remote controls using the methods. See Sensor Product page See The leJOS sensors framework See leJOS conventions for SampleProviders

Field Summary

Fields

Modifier and Type	Field and Description
static int	IR_CHANNELS
private static java.lang.String	LEGO_EV3_IR
static float	MAX_RANGE
static float	MIN_RANGE
private static java.lang.String	MODE_DISTANCE
private static java.lang.String	MODE_REMOTE
private static java.lang.String	MODE_SEEK

Fields inherited from class ev3dev.sensors.BaseSensor

currentMode, modes, 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
EV3IRSensor(Port portName)

Method Summary

Modifier and Type	Method and Description
SensorMode	getDistanceMode() EV3 Infra Red sensors, Distance mode Measures the distance to an object in front of the sensors.
int	getRemoteCommand(int chan) Return the current remote command from the specified channel.
void	getRemoteCommands(byte[] cmds, int offset, int len) Obtain the commands associated with one or more channels.
SensorMode	getRemoteMode() EV3 Infra Red sensor, Remote mode In seek mode the sensor locates up to four beacons and provides bearing and distance of each beacon.
SensorMode	getSeekMode() EV3 Infra Red sensor, Seek mode In seek mode the sensor locates up to four beacons and provides bearing and distance of each beacon.

Methods inherited from class ev3dev.sensors.BaseSensor

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

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

LEGO_EV3_IR

private static final java.lang.String LEGO_EV3_IR

See Also:

Constant Field Values

MIN_RANGE

public static float MIN_RANGE

MAX_RANGE

public static float MAX_RANGE

MODE_DISTANCE

private static final java.lang.String MODE_DISTANCE

See Also:

Constant Field Values

MODE_SEEK

private static final java.lang.String MODE_SEEK

See Also:

Constant Field Values

MODE_REMOTE

private static final java.lang.String MODE_REMOTE

See Also:

Constant Field Values

IR_CHANNELS

public static final int IR_CHANNELS

See Also:

Constant Field Values

Constructor Detail

EV3IRSensor

public EV3IRSensor(Port portName)

Method Detail

getDistanceMode

public SensorMode getDistanceMode()

EV3 Infra Red sensors, Distance mode
Measures the distance to an object in front of the sensors.

Size and content of the sample
The sample contains one element giving the distance to an object in front of the sensors. The distance provided is very roughly equivalent to meters but needs conversion to give better distance. See product page for details.
The effective range of the sensors in Distance mode is about 5 to 50 centimeters. Outside this range a zero is returned for low values and positive infinity for high values.

Returns:

A sampleProvider See leJOS conventions for SampleProviders See Sensor Product page

getSeekMode

public SensorMode getSeekMode()

EV3 Infra Red sensor, Seek mode
In seek mode the sensor locates up to four beacons and provides bearing and distance of each beacon.

Size and content of the sample
The sample contains four pairs of elements in a single sample. Each pair gives bearing of and distance to the beacon. The first pair of elements is associated with a beacon transmitting on channel 0, the second pair with a beacon transmitting on channel 1 etc.
The bearing values range from -25 to +25 (with values increasing clockwise when looking from behind the sensor). A bearing of 0 indicates the beacon is directly in front of the sensor.
Distance values are not to scale. Al increasing values indicate increasing distance.
If no beacon is detected both bearing is set to zero, and distance to positive infinity.

Returns:

A sampleProvider See leJOS conventions for SampleProviders See Sensor Product page

getRemoteMode

public SensorMode getRemoteMode()

EV3 Infra Red sensor, Remote mode
In seek mode the sensor locates up to four beacons and provides bearing and distance of each beacon. Returns the current remote command from the specified channel. Remote commands are a single numeric value which represents which button on the Lego IR remote is currently pressed (0 means no buttons pressed). Four channels are supported (0-3) which correspond to 1-4 on the remote. The button values are:
1 TOP-LEFT
2 BOTTOM-LEFT
3 TOP-RIGHT
4 BOTTOM-RIGHT
5 TOP-LEFT + TOP-RIGHT
6 TOP-LEFT + BOTTOM-RIGHT
7 BOTTOM-LEFT + TOP-RIGHT
8 BOTTOM-LEFT + BOTTOM-RIGHT
9 CENTRE/BEACON
10 BOTTOM-LEFT + TOP-LEFT
11 TOP-RIGHT + BOTTOM-RIGHT

Returns:

A sampleProvider See leJOS conventions for SampleProviders

getRemoteCommand

public int getRemoteCommand(int chan)

Return the current remote command from the specified channel. Remote commands are a single numeric value which represents which button on the Lego IR remote is currently pressed (0 means no buttons pressed). Four channels are supported (0-3) which correspond to 1-4 on the remote. The button values are:
1 TOP-LEFT
2 BOTTOM-LEFT
3 TOP-RIGHT
4 BOTTOM-RIGHT
5 TOP-LEFT + TOP-RIGHT
6 TOP-LEFT + BOTTOM-RIGHT
7 BOTTOM-LEFT + TOP-RIGHT
8 BOTTOM-LEFT + BOTTOM-RIGHT
9 CENTRE/BEACON
10 BOTTOM-LEFT + TOP-LEFT
11 TOP-RIGHT + BOTTOM-RIGHT

Parameters:

chan - channel to obtain the command for

Returns:

the current command

getRemoteCommands

public void getRemoteCommands(byte[] cmds,
                              int offset,
                              int len)

Obtain the commands associated with one or more channels. Each element of the array contains the command for the associated channel (0-3).

Parameters:

cmds - the array to store the commands

offset - the offset to start storing

len - the number of commands to store.