lejos.hardware.device.RCXSensorMultiplexer Maven / Gradle / Ivy

Go to download

Show more of this group Show more artifacts with this name
Show all versions of lejos-ev3-api Show documentation

leJOS (pronounced like the Spanish word "lejos" for "far") is a tiny Java Virtual Machine. In 2013 it was ported to the LEGO EV3 brick.

The newest version!

package lejos.hardware.device;

import lejos.hardware.port.I2CPort;
import lejos.hardware.port.Port;
import lejos.hardware.sensor.I2CSensor;

/**
 * Supports Mindsensors RXMux

 * This sensor allows you to connect up to four RCX type sensors toa single port.
 * Be aware that the sensor does not track the ticks of the rotation sensor when
 * the port is not selected. 
 * 
 * @author Michael Smith 
 * 
 */
public class RCXSensorMultiplexer extends I2CSensor{
	private final static byte CONTROL = 0x00;
	private final static int CHANNEL1 = 0xfe;
	private final static int CHANNEL2 = 0xfd;
	private final static int CHANNEL3 = 0xfb;
	private final static int CHANNEL4 = 0xf7;
	private final static int ALLOFF = 0xFF;

    public static final int DEFAULT_RCXSMUX_ADDRESS = 0x7e;
	
    /**
    *
    * @param port NXT Sensor port
    */
   public RCXSensorMultiplexer(I2CPort port){
       this(port, DEFAULT_RCXSMUX_ADDRESS);
   }

   /**
    *
    * @param port NXT Sensor port
    * @param address I2C address
    */
   public RCXSensorMultiplexer(I2CPort port, int address){
       super(port, address);
   }
   /**
   *
   * @param port NXT Sensor port
   */
  public RCXSensorMultiplexer(Port port){
      this(port, DEFAULT_RCXSMUX_ADDRESS);
  }

  /**
   *
   * @param port NXT Sensor port
   * @param address I2C address
   */
  public RCXSensorMultiplexer(Port port, int address){
      super(port, address, TYPE_LOWSPEED);
  }

	/**
	 * Selects channel one
	 *
	 */	
	public void setChannelOne(){	
		sendData(CONTROL, (byte)CHANNEL1);
	}
	
	/**
	 * Selects channel two
	 *
	 */
	public void setChannelTwo(){
		sendData(CONTROL, (byte)CHANNEL2);
	}
	
	/**
	 * Selects channel three
	 *
	 */
	public void setChannelThree(){
		sendData(CONTROL, (byte)CHANNEL3);
	}
	
	/**
	 * Selects channel four
	 *
	 */
	public void setChannelFour(){
		sendData(CONTROL, (byte)CHANNEL4);
	}
	
	/**
	 * Turns off all channels
	 *
	 */
	public void allChannelsOff(){
		sendData(CONTROL, (byte)ALLOFF);
	}
}