package lejos.nxt.addon;
import lejos.nxt.I2CPort;
import lejos.nxt.I2CSensor;
import lejos.nxt.rcxcomm.Opcode;
import lejos.util.Delay;
/*
* 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.
*/
/**
* Supports Mindsensors NRLink RCX IR adapter.
*
* @author Lawrie Griffiths <lawrie.griffiths@ntlworld.com>
*
*/
public class RCXLink extends I2CSensor implements Opcode {
private byte[] buf = new byte[4];
public RCXMotor A = new RCXMotor(new RCXRemoteMotorPort(this,0));
public RCXMotor B = new RCXMotor(new RCXRemoteMotorPort(this,1));
public RCXMotor C = new RCXMotor(new RCXRemoteMotorPort(this,2));
private final static byte SLOW_SPEED = 0x44; // Default 2400 baud
private final static byte FLUSH = 0x46; // Flush the FIFO buffer
private final static byte HIGH_SPEED = 0x48; // 4800 baudprivate final static byte LONG_RANGE = 0x4C;
private final static byte SHORT_RANGE = 0x53;
private final static byte LONG_RANGE = 0x4c;
private final static byte TRANSMIT_RAW_MACRO = 0x55; // Transmit Unassembled raw macro data;
private final static byte COMMAND = 0x41;
private final static byte RUN = 0x52;
private final static byte ARPA_ON = 0x4E;
private final static byte ARPA_OFF = 0x4F;
private final static byte STATUS_REG = 0x41;
private final static byte RX_DATA_LEN = 0x40;
private final static byte TX_DATA_LEN = 0x40;
private final static byte RX_DATA = 0x42;
private final static byte TX_DATA = 0x42;
// ROM Macro Definitions:
public final static byte SHORT_RANGE_IR = 0x01;
public final static byte LONG_RANGE_IR = 0x04;
public final static byte POWER_OFF_RCX = 0x07;
public final static byte RUN_PROGRAM_1 = 0x09;
public final static byte RUN_PROGRAM_2 = 0x0D;
public final static byte RUN_PROGRAM_3 = 0x11;
public final static byte RUN_PROGRAM_4 = 0x15;
public final static byte RUN_PROGRAM_5 = 0x19;
public final static byte STOP_ALL_PROGRAMS = 0x1D;
public final static byte MOTOR_A_FORWARD = 0x21;
public final static byte MOTOR_A_REVERSED = 0x25;
public final static byte MOTOR_B_FORWARD = 0x29;
public final static byte MOTOR_B_REVERSED = 0x2D;
public final static byte MOTOR_C_FORWARD = 0x31;
public final static byte MOTOR_C_REVERSED = 0x35;
/**
* NOTE: The BEEP macro is unreliable.
* It works once, and then needs another command executed
* before it works again.
*/
public final static byte BEEP = 0x39;
public final static int EEPROM_BUFFER = 0x78;
public final static int DELAY = 10;
public RCXLink(I2CPort port) {
super(port);
}
public void runMacro(int addr) {
buf[0] = RUN;
buf[1] = (byte) addr;
sendData(COMMAND, buf, 2);
}
public void beep() {
runMacro(BEEP);
}
public void runProgram(int programNumber) {
runMacro(RUN_PROGRAM_1 + ((programNumber-1)*4));
}
public void forwardStep(int id) { // RCX Remote Command
runMacro(MOTOR_A_FORWARD + (id*8));
}
public void backwardStep(int id) { // RCX Remote Command
runMacro(MOTOR_A_REVERSED + (id*8));
}
public void setRCXRangeShort() {
runMacro(SHORT_RANGE_IR);
}
public void setRCXRangeLong() {
runMacro(LONG_RANGE_IR);
}
public void powerOff() {
runMacro(POWER_OFF_RCX);
}
public void stopAllPrograms() {
runMacro(STOP_ALL_PROGRAMS);
}
public void flush() {
sendData(COMMAND, FLUSH);
}
public void setDefaultSpeed() {
sendData(COMMAND, SLOW_SPEED);
}
public void setHighSpeed() {
sendData(COMMAND, HIGH_SPEED);
}
public void setRangeLong() {
sendData(COMMAND, LONG_RANGE);
}
public void setRangeShort() {
sendData(COMMAND, SHORT_RANGE);
}
public void setAPDAOn() {
sendData(COMMAND, ARPA_ON);
}
public void setAPDAOff() {
sendData(COMMAND, ARPA_OFF);
}
public void defineMacro(int addr, byte[] macro) {
sendData((byte) addr,(byte) macro.length);
sleep();
sendData((byte) addr+1, macro, macro.length);
}
public int getStatus() {
getData(STATUS_REG, buf, 1);
return buf[0] & 0xFF;
}
public int bytesAvailable() {
getData(RX_DATA_LEN, buf, 1);
return buf[0] & 0xFF;
}
public void ping() {
buf[0] = OPCODE_ALIVE;
defineAndRun(buf,1);
}
public void sendF7(int msg) {
buf[0] = OPCODE_SET_MESSAGE;
buf[1] = (byte) (msg & 0xFF);
defineAndRun(buf,2);
}
public void sendRemoteCommand(int msg) {
buf[0] = OPCODE_REMOTE_COMMAND;
buf[1] = (byte) (msg >> 8);
buf[2] = (byte) (msg & 0xFF);
defineAndRun(buf,3);
}
public void setMotorPower(int id, int power) {
buf[0] = OPCODE_SET_MOTOR_POWER;
buf[1] = (byte) (1 << id);
buf[2] = 2;
buf[3] = (byte) power;
defineMacro(EEPROM_BUFFER, buf); // Bug: sendData cannot send more than 3 bytes
sleep();
sendData(EEPROM_BUFFER+4, (byte) power);
sleep();
runMacro(EEPROM_BUFFER);
}
public void stopMotor(int id) {
buf[0] = OPCODE_SET_MOTOR_ON_OFF;
buf[1] = (byte) ((1 << id) | 0x40);
defineAndRun(buf,2);
}
public void startMotor(int id) {
buf[0] = OPCODE_SET_MOTOR_ON_OFF;
buf[1] = (byte) ((1 << id) | 0x80);
defineAndRun(buf,2);
}
public void fltMotor(int id) {
buf[0] = OPCODE_SET_MOTOR_ON_OFF;
buf[1] = (byte) (1 << id);
defineAndRun(buf,2);
}
public void forward(int id) {
buf[0] = OPCODE_SET_MOTOR_DIRECTION;
buf[1] = (byte) ((1 << id) | 0x80);
defineAndRun(buf,2);
}
public void backward(int id) {
buf[0] = OPCODE_SET_MOTOR_DIRECTION;
buf[1] = (byte) (1 << id);
defineAndRun(buf,2);
}
public void setRawMode() {
sendData(COMMAND, TRANSMIT_RAW_MACRO);
}
public void sendBytes(byte[] data, int len) {
sendData(TX_DATA,data,len);
sleep();
sendData(TX_DATA_LEN, (byte) len);
}
public int readBytes(byte [] data) {
getData(RX_DATA_LEN,buf,1);
int numBytes = buf[0];
if (numBytes > 0) {
if (numBytes > data.length) numBytes = data.length;
sleep();
getData(RX_DATA,data,numBytes);
}
return numBytes;
}
private void sleep() {
Delay.msDelay(DELAY);
}
public void defineAndRun(byte[] macro, int len) {
sendData(EEPROM_BUFFER,(byte) len);
sleep();
sendData(EEPROM_BUFFER+1, macro, len);
sleep();
runMacro(EEPROM_BUFFER);
}
}