Package ev3dev.sensors

Class BaseSensor

java.lang.Object

ev3dev.hardware.EV3DevFileSystem

ev3dev.hardware.EV3DevPlatforms

ev3dev.hardware.EV3DevDevice

ev3dev.hardware.EV3DevSensorDevice

ev3dev.sensors.BaseSensor

All Implemented Interfaces:

SensorMode, SensorModes

Direct Known Subclasses:

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

public class BaseSensor
extends EV3DevSensorDevice
implements SensorModes

Field Summary

Fields

Modifier and Type	Field and Description
protected int	currentMode
protected java.lang.String	currentModeS
(package private) java.util.ArrayList<java.lang.String>	modeList
protected SensorMode[]	modes
protected 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, DEVICE, LEGO_PORT, LEGO_SENSOR, MODE, PATH_DEVICE

Fields inherited from class ev3dev.hardware.EV3DevFileSystem

EV3DEV_ROOT_PATH, EV3DEV_TESTING_KEY, ROOT_PATH

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)
java.util.ArrayList<java.lang.String>	getAvailableModes() Return a list of string descriptions for the sensors available modes.
int	getCurrentMode() Gets the index number of the current mode.
private int	getIndex(java.lang.String modeName)
SensorMode	getMode(int mode) Return the sample provider interface for the requested mode
SensorMode	getMode(java.lang.String modeName) Return the sample provider for the request mode
int	getModeCount() Gets the number of supported modes
java.lang.String	getName() return a string description of this sensors mode
private boolean	isValid(int mode)
int	sampleSize()
void	setCurrentMode(int mode) Sets the current mode for fetching samples
void	setCurrentMode(java.lang.String modeName) Sets the current mode for fetching samples
protected void	setModes(SensorMode[] m) Define the set of modes to be made available for this sensors.
protected void	switchMode(int newMode, long switchDelay) Switch to the selected mode (if not already in that mode) and delay for the specified period to allow the sensors to settle in the new mode.
protected void	switchMode(java.lang.String newMode, long switchDelay)

Methods inherited from class ev3dev.hardware.EV3DevDevice

detect, getIntegerAttribute, getStringAttribute, setIntegerAttribute, setStringAttribute

Methods inherited from class ev3dev.hardware.EV3DevPlatforms

getMotorPort, getPlatform, getSensorPort

Methods inherited from class ev3dev.hardware.EV3DevFileSystem

getROOT_PATH

Methods inherited from class java.lang.Object

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

Field Detail

SWITCH_DELAY

protected static final int SWITCH_DELAY

See Also:

Constant Field Values

currentMode

protected int currentMode

currentModeS

protected java.lang.String currentModeS

modes

protected SensorMode[] modes

modeList

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

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()

Description copied from interface: SensorModes

Return a list of string descriptions for the sensors available modes.

Specified by:

getAvailableModes in interface SensorModes

Returns:

list of string descriptions

getMode

public SensorMode getMode(int mode)

Description copied from interface: SensorModes

Return the sample provider interface for the requested mode

Specified by:

getMode in interface SensorModes

Parameters:

mode - the mode number

Returns:

the sample provider for this mode

getMode

public SensorMode getMode(java.lang.String modeName)

Description copied from interface: SensorModes

Return the sample provider for the request mode

Specified by:

getMode in interface SensorModes

Parameters:

modeName - the name/description of the mode

Returns:

the sample provider for the requested mode.

isValid

private boolean isValid(int mode)

getIndex

private int getIndex(java.lang.String modeName)

getName

public java.lang.String getName()

Description copied from interface: SensorMode

return a string description of this sensors mode

Specified by:

getName in interface SensorMode

Returns:

The description/name of this mode

sampleSize

public int sampleSize()

fetchSample

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

setCurrentMode

public void setCurrentMode(int mode)

Description copied from interface: SensorModes

Sets the current mode for fetching samples

Specified by:

setCurrentMode in interface SensorModes

Parameters:

mode - the index number of the mode. Index number corresponds with the item order of the list from getAvailableModes().

setCurrentMode

public void setCurrentMode(java.lang.String modeName)

Description copied from interface: SensorModes

Sets the current mode for fetching samples

Specified by:

setCurrentMode in interface SensorModes

Parameters:

modeName - the name of the mode. name corresponds with the item value of the list from getAvailableModes().

getCurrentMode

public int getCurrentMode()

Description copied from interface: SensorModes

Gets the index number of the current mode.

Specified by:

getCurrentMode in interface SensorModes

Returns:

the index number of the mode. Index number corresponds with the item order of the list from getAvailableModes().

getModeCount

public int getModeCount()

Description copied from interface: SensorModes

Gets the number of supported modes

Specified by:

getModeCount in interface SensorModes

Returns:

the number of supported modes

switchMode

protected void switchMode(int newMode,
                          long switchDelay)

Switch to the selected mode (if not already in that mode) and delay for the specified period to allow the sensors to settle in the new mode.
A mode of -1 resets the sensors. TODO: There really should be a better way to work out when the switch is complete, if you don't wait though you end up reading data from the previous mode.

Parameters:

newMode - The mode to switch to.

switchDelay - Time in mS to delay after the switch.

switchMode

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