lejos.hardware.sensor.DexterPressureSensor500 Maven / Gradle / Ivy

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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.sensor;

import lejos.hardware.port.AnalogPort;
import lejos.hardware.port.Port;
import lejos.robotics.SampleProvider;

/**
 * Dexter Industries DPressure500

 * Pressure sensor for LEGO® MINDSTORMS® EV3 and NXT.
 * 
 * 
 * The code for this sensor has not been tested. Please report test results to
 * the  leJOS forum.
 * 
 * 
 * 
 * 
 * 
 * 
 * 
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 * 
 * Supported modes
Mode name Description unit(s) Getter
Pressure Measures the pressure Pascal  {@link #getPressureMode() }
 * 
 * 
 * 
 * 
 * See  Sensor datasheet 
 * See  Sensor Product page 
 * See  The
 *      leJOS sensor framework
 * See {@link lejos.robotics.SampleProvider leJOS conventions for
 *      SampleProviders}
 * 
 *      

 * 
 * 
 * @author Lawrie Griffiths
 * 
 */public class DexterPressureSensor500 extends AnalogSensor implements SensorConstants {
	/*
	 * 
	 * Formula from DPRESS-driver.h:
	 * vRef = 4.85
	 * vOut = rawValue * vRef / 1023
	 * result = (vOut / vRef - CAL1) / CAL2
	 */
	private static final double CAL1 = 0.04;
	private static final double CAL2 = 0.0018;
	
	/* 
	 * Optimized:
	 * result = rawValue * DPRESS_MULT - DPRESS_OFFSET;
	 */
	private static final float DPRESS_MULT = (float)(1.0 / CAL2 );
	private static final float DPRESS_OFFSET = (float)(CAL1 / CAL2);
	
    public DexterPressureSensor500(AnalogPort port) {
        super(port);
        init();
    }
    
    public DexterPressureSensor500(Port port) {
        super(port);
        init();
    }
    
    protected void init() {
    	setModes(new SensorMode[]{ new PressureMode() });
    	port.setTypeAndMode(TYPE_CUSTOM, MODE_RAW);
    }
    
    

	
    /**
     * Dexter Industries DPressure500, Pressure mode

     * Measures the pressure
     * 
     * 

     * Size and content of the sample

     * The sample contains one element containing the pressure (in PA) measured by the sensor.
     * 
     * 
     * 
     * @return A sampleProvider
     * See {@link lejos.robotics.SampleProvider leJOS conventions for
     *      SampleProviders}
     * See  Sensor datasheet 
     */
    public SampleProvider getPressureMode() {
        return getMode(0);

    }

    private class PressureMode implements SensorMode {

        @Override
        public int sampleSize() {
            return 1;
        }

        @Override
        public void fetchSample(float[] sample, int offset) {
            sample[offset] = (NXTRawValue(normalize(port.getPin1())) * DPRESS_MULT - DPRESS_OFFSET)* 1000f; // in pascals
       }

        @Override
        public String getName() {
            return "Pressure";
        }

    }
}

Supported modes
Mode name	Description	unit(s)	Getter
Pressure	Measures the pressure	Pascal	{@link #getPressureMode() }