package lejos.nxt.remote;
/*
* 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.
*/
/**
* LEGO Communication Protocol constants.
*
*/
public interface NXTProtocol {
// Command types constants. Indicates type of packet being sent or received.
public static byte DIRECT_COMMAND_REPLY = 0x00;
public static byte SYSTEM_COMMAND_REPLY = 0x01;
public static byte REPLY_COMMAND = 0x02;
public static byte DIRECT_COMMAND_NOREPLY = (byte)0x80; // Avoids ~100ms latency
public static byte SYSTEM_COMMAND_NOREPLY = (byte)0x81; // Avoids ~100ms latency
// System Commands:
public static byte OPEN_READ = (byte)0x80;
public static byte OPEN_WRITE = (byte)0x81;
public static byte READ = (byte)0x82;
public static byte WRITE = (byte)0x83;
public static byte CLOSE = (byte)0x84;
public static byte DELETE = (byte)0x85;
public static byte FIND_FIRST = (byte)0x86;
public static byte FIND_NEXT = (byte)0x87;
public static byte GET_FIRMWARE_VERSION = (byte)0x88;
public static byte OPEN_WRITE_LINEAR = (byte)0x89;
public static byte OPEN_READ_LINEAR = (byte)0x8A;
public static byte OPEN_WRITE_DATA = (byte)0x8B;
public static byte OPEN_APPEND_DATA = (byte)0x8C;
// Many commands could be hidden between 0x8D and 0x96!
public static byte BOOT = (byte)0x97;
public static byte SET_BRICK_NAME = (byte)0x98;
// public static byte MYSTERY_COMMAND = (byte)0x99;
// public static byte MYSTERY_COMMAND = (byte)0x9A;
public static byte GET_DEVICE_INFO = (byte)0x9B;
// commands could be hidden here...
public static byte DELETE_USER_FLASH = (byte)0xA0;
public static byte POLL_LENGTH = (byte)0xA1;
public static byte POLL = (byte)0xA2;
public static byte NXJ_FIND_FIRST = (byte)0xB6;
public static byte NXJ_FIND_NEXT = (byte)0xB7;
public static byte NXJ_PACKET_MODE = (byte)0xff;
// Poll constants:
public static byte POLL_BUFFER = (byte)0x00;
public static byte HIGH_SPEED_BUFFER = (byte)0x01;
// Direct Commands
public static byte START_PROGRAM = 0x00;
public static byte STOP_PROGRAM = 0x01;
public static byte PLAY_SOUND_FILE = 0x02;
public static byte PLAY_TONE = 0x03;
public static byte SET_OUTPUT_STATE = 0x04;
public static byte SET_INPUT_MODE = 0x05;
public static byte GET_OUTPUT_STATE = 0x06;
public static byte GET_INPUT_VALUES = 0x07;
public static byte RESET_SCALED_INPUT_VALUE = 0x08;
public static byte MESSAGE_WRITE = 0x09;
public static byte RESET_MOTOR_POSITION = 0x0A;
public static byte GET_BATTERY_LEVEL = 0x0B;
public static byte STOP_SOUND_PLAYBACK = 0x0C;
public static byte KEEP_ALIVE = 0x0D;
public static byte LS_GET_STATUS = 0x0E;
public static byte LS_WRITE = 0x0F;
public static byte LS_READ = 0x10;
public static byte GET_CURRENT_PROGRAM_NAME = 0x11;
// public static byte MYSTERY_OPCODE = 0x12; // ????
public static byte MESSAGE_READ = 0x13;
// public static byte POSSIBLY_MORE_HIDDEN = 0x14; // ????
// NXJ additions
public static byte NXJ_DISCONNECT = 0x20;
public static byte NXJ_DEFRAG = 0x21;
// Output state constants
// "Mode":
/** Turn on the specified motor */
public static byte MOTORON = 0x01;
/** Use run/brake instead of run/float in PWM */
public static byte BRAKE = 0x02;
/** Turns on the regulation */
public static byte REGULATED = 0x04;
// "Regulation Mode":
/** No regulation will be enabled */
public static byte REGULATION_MODE_IDLE = 0x00;
/** Power control will be enabled on specified output */
public static byte REGULATION_MODE_MOTOR_SPEED = 0x01;
/** Synchronization will be enabled (Needs enabled on two output) */
public static byte REGULATION_MODE_MOTOR_SYNC = 0x02;
// "RunState":
/** Output will be idle */
public static byte MOTOR_RUN_STATE_IDLE = 0x00;
/** Output will ramp-up */
public static byte MOTOR_RUN_STATE_RAMPUP = 0x10;
/** Output will be running */
public static byte MOTOR_RUN_STATE_RUNNING = 0x20;
/** Output will ramp-down */
public static byte MOTOR_RUN_STATE_RAMPDOWN = 0x40;
// Input Mode Constants
// "Port Type":
/** */
public static byte NO_SENSOR = 0x00;
/** */
public static byte SWITCH = 0x01;
/** */
public static byte TEMPERATURE = 0x02;
/** */
public static byte REFLECTION = 0x03;
/** */
public static byte ANGLE = 0x04;
/** */
public static byte LIGHT_ACTIVE = 0x05;
/** */
public static byte LIGHT_INACTIVE = 0x06;
/** */
public static byte SOUND_DB = 0x07;
/** */
public static byte SOUND_DBA = 0x08;
/** */
public static byte CUSTOM = 0x09;
/** */
public static byte LOWSPEED = 0x0A;
/** */
public static byte LOWSPEED_9V = 0x0B;
/** */
public static byte NO_OF_SENSOR_TYPES = 0x0C;
// "Port Mode":
/** */
public static byte RAWMODE = 0x00;
/** */
public static byte BOOLEANMODE = 0x20;
/** */
public static byte TRANSITIONCNTMODE = 0x40;
/** */
public static byte PERIODCOUNTERMODE = 0x60;
/** */
public static byte PCTFULLSCALEMODE = (byte)0x80;
/** */
public static byte CELSIUSMODE = (byte)0xA0;
/** */
public static byte FAHRENHEITMODE = (byte)0xC0;
/** */
public static byte ANGLESTEPSMODE = (byte)0xE0;
/** */
public static byte SLOPEMASK = 0x1F;
/** */
public static byte MODEMASK = (byte)0xE0;
}