MSC.java

package lejos.nxt.addon;

import lejos.nxt.*;

/*
 * WARNING: THIS CLASS IS SHARED BETWEEN THE classes AND pccomms PROJECTS.
 * DO NOT EDIT THE VERSION IN pccomms AS IT WILL BE OVERWRITTEN WHEN THE PROJECT IS BUILT.
 */

/**
 * This class has been designed to manage the device
 * MSC8, Mindsensors NXT Servo which manages up to 8 RC Servos.
 * 
 * For example, do: 
 * 
 *   <code>msc.servo1.setAngle(angle)</code> 
 *   
 * to set the angle of the servo at location 1.
 * 
 * Many thanks to Luis Bunuel (bunuel66@hotmail.com) in Testing process 
 * 
 * @author Juan Antonio Brenha Moral
 * 
 */
public class MSC extends I2CSensor {
	public static final byte NXTSERVO_ADDRESS = (byte)0x58;
	public static final byte MSC8_VBATT = 0x41;//The I2C Register to read the battery 

	/**
	 * Servo at location 1
	 */
	public MServo servo1;
	
	/**
	 * Servo at location 2
	 */
	public MServo servo2;
	
	/**
	 * Servo at location 3
	 */
	public MServo servo3;
	
	/**
	 * Servo at location 4
	 */
	public MServo servo4;
	
	/**
	 * Servo at location 5
	 */
	public MServo servo5;
	
	/**
	 * Servo at location 6
	 */
	public MServo servo6;
	
	/**
	 * Servo at location 7
	 */
	public MServo servo7;
	
	/**
	 * Servo at location 8
	 */
	public MServo servo8;
	
	private MServo[] arrServo; //ServoController manages up to 8 RC Servos

	//I2C	
	private SensorPort portConnected;

	/**
	 * 
	 * Constructor
	 * 
	 * @param port the NXTServo is connected to
	 * 
	 */
	public MSC(SensorPort port){
		super(port);
		port.setType(TYPE_LOWSPEED_9V);
		this.setAddress(NXTSERVO_ADDRESS);
		
		portConnected = port;
		
		servo1 = new MServo(portConnected,1);
		servo2 = new MServo(portConnected,2);
		servo3 = new MServo(portConnected,3);
		servo4 = new MServo(portConnected,4);
		servo5 = new MServo(portConnected,5);
		servo6 = new MServo(portConnected,6);
		servo7 = new MServo(portConnected,7);
		servo8 = new MServo(portConnected,8);

		arrServo = new MServo[8];
		arrServo[0] = servo1;
		arrServo[1] = servo2;
		arrServo[2] = servo3;
		arrServo[3] = servo4;
		arrServo[4] = servo5;
		arrServo[5] = servo6;
		arrServo[6] = servo7;
		arrServo[7] = servo8;
	}

	/**
	 * Method to get an RC Servo in from the NXTServo
	 * 
	 * @param location location of the servo (from 1 to 8) 
	 * @return the MServo object
	 * 
	 */
	public MServo getServo(int location){
		return arrServo[location-1];
	}

	
	/**
	 * Read the battery voltage data from
	 * NXTServo module (in millivolts)
	 * 
	 * @return the battery voltage in millivolts
	 */
	public int getBattery(){
		byte[] bufReadResponse= new byte[1];
		getData(MSC8_VBATT, bufReadResponse, 1);

		// 37 is calculated from 4700 mv /128
		return(37*(0xFF & bufReadResponse[0]));
	}
}