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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.
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package lejos.hardware.device;
import lejos.robotics.Touch;
import lejos.hardware.port.AnalogPort;
import lejos.hardware.port.Port;
import lejos.hardware.sensor.AnalogSensor;
import lejos.hardware.sensor.SensorConstants;
/**
* Interface for the Mindsensors Touch Multiplexer.
* This device allows up to three touch sensors to be attached to a single NXT
* sensor port.
*
* @author Andy
*
*/
public class TouchMUX extends AnalogSensor {
/** number of touch sensors supported by this device **/
public static final int NUMBER_OF_SENSORS = 3;
/** Bit ID returned by readSensors when sensor T1 is pressed **/
public static final int ID_T1 = (1 << 0);
/** Bit ID returned by readSensors when sensor T1 is pressed **/
public static final int ID_T2 = (1 << 1);
/** Bit ID returned by readSensors when sensor T1 is pressed **/
public static final int ID_T3 = (1 << 2);
private class MuxTouchSensor implements Touch
{
private int id;
/**
* Create an object to represent one touch sensor attached to the
* multiplexer.
* @param touchId The id of this sensor.
*/
MuxTouchSensor(int touchId)
{
id = touchId;
}
/**
* Check if the sensor is pressed.
* @return true if sensor is pressed, false otherwise.
*/
public boolean isPressed()
{
return (readSensors() & id) != 0;
}
}
/** Instance for the touch sensor connected to port T1 **/
public final Touch T1 = new MuxTouchSensor(ID_T1);
/** Instance for the touch sensor connected to port T2 **/
public final Touch T2 = new MuxTouchSensor(ID_T2);
/** Instance for the touch sensor connected to port T3 **/
public final Touch T3 = new MuxTouchSensor(ID_T3);
/**
* Create a object to provide access to a touch sensor multiplexer
* @param port The NXT sensor port to which the multiplexer is attached
*/
public TouchMUX(AnalogPort port)
{
super(port);
//port.setTypeAndMode(SensorConstants.TYPE_CUSTOM, SensorConstants.MODE_RAW);
}
/**
* Create a object to provide access to a touch sensor multiplexer
* @param port The NXT sensor port to which the multiplexer is attached
*/
public TouchMUX(Port port)
{
super(port);
this.port.setTypeAndMode(SensorConstants.TYPE_CUSTOM, SensorConstants.MODE_RAW);
}
/**
* Return a Touch interface providing access to the sensor specified by the
* given id.
* @param id a number between 0..{@link #NUMBER_OF_SENSORS}-1
* @return the requested Touch interface
*/
public synchronized Touch getInstance(int id)
{
switch(id)
{
case 0:
return T1;
case 1:
return T2;
case 2:
return T3;
default:
throw new IllegalArgumentException("no such touch sensor port");
}
}
/*
* Following values provide High and Low limits for the various
* sensor combinations, as supplied by Mindsensors.
* Note however that these values assume the RAW readings obtained when the
* sensor type is set to be a Lego light sensor. With the Lego firmware this
* is not the actual A/D reading instead it is a value correct for the offset
* and range of the sensor in the following way...
* MIN_LS_READING = 200
* MAX_LS_READING = 900
* legoVal = MAX_AD_RAW - ((rawVal-MIN_LS_READING)*100)/((MAX_LS_READING - MIN_LS_READING)*100)/MAX_AD_RAW
* which gives
* legoVal = MAX_AD_RAW - ((rawVal - MIN_LS_READING)*MAX_AD_RAW)/(MAX_LS_READING - MIN_LS_READING)
* To correct the values used we must adjust them as follows...
* lejosVal = (MAX_AD_RAW - legoVal) * (MAX_LS_READING - MIN_LS_READING))/MAX_AD_RAW + MIN_LS_READING
* The actual values used below have been corrected in this way.....
* Note also that the Hi/Lo of the test has been changed because the values now drop in value..
* Original values:
private static final int L1 = 60;
private static final int H1 = 160;
private static final int L2 = 210;
private static final int H2 = 290;
private static final int L3 = 500;
private static final int H3 = 599;
private static final int L12 = 370;
private static final int H12 = 460;
private static final int L13 = 600;
private static final int H13 = 658;
private static final int L23 = 659;
private static final int H23 = 723;
private static final int L123 = 724;
private static final int H123 = 800;
* Adjusted values:
*/
private static final int H1 = 859;
private static final int L1 = 791;
private static final int H2 = 756;
private static final int L2 = 701;
private static final int H3 = 558;
private static final int L3 = 490;
private static final int H12 = 647;
private static final int L12 = 585;
private static final int H13 = 489;
private static final int L13 = 450;
private static final int H23 = 449;
private static final int L23 = 405;
private static final int H123 = 404;
private static final int L123 = 352;
/**
* Read the touch multiplexer and return a bit mask showing which sensors
* are currently pressed. Returns ID_T1 if T1 is pressed, ID_T2 if T2 is
* pressed and ID_T3 id T3 is pressed. If more then one sensor is pressed
* the return will be an or of the values.
* @return bit mask showing which sensor buttons are pressed.
*/
public int readSensors()
{
int ret;
int val = NXTRawIntValue(port.getPin1());
/*
* Note the following code can be used to correct the RAW value to be
* the same as the RAW value for a Lego light sensor. Allowing the use
* of the original Mindsensor constants.
if (val > 200)
val -= 200;
else
val = 0;
val = (val*100)/68;
val = 1023 - val
*/
if (L1 <= val && val < H1)
ret = ID_T1;
else if (L2 <= val && val < H2)
ret = ID_T2;
else if (L3 <= val && val < H3)
ret = ID_T3;
else if (L12 <= val && val < H12)
ret = ID_T1|ID_T2;
else if (L13 <= val && val < H13)
ret = ID_T1|ID_T3;
else if (L23 <= val && val < H23)
ret = ID_T2|ID_T3;
else if (L123 <= val && val < H123)
ret = ID_T1|ID_T2|ID_T3;
else
ret = 0;
return ret;
}
}